摘要
为使摇摆台具备工作空间大、承载能力强、驱动间内力耦合小的特点,提出了一种新型驱动冗余的2自由度摇摆台,并对该摇摆台的总体设计方法进行了探讨.采用ZYX欧拉角描述平台的位姿,推导了摇摆台运动学、动力学参数的矩阵表示形式.在动力学分析中,通过减少驱动力数量,求取了各自由度的协同出力.然后在每个自由度上将单对称阀控制两个非对称缸简化为单对称阀控制单对称缸,并进一步提出了偏心负载的等效方法,分析了偏心负载刚度对系统控制性能的影响.最后,结合运动学、多体动力学模型,完成了摇摆台动力机构的设计及负载匹配校验.
A 2DOF （degree of freedom） motion simulator with actuation redundancy is designed, which is characterized by larger workspace, heavier load capacity and less internal driving force coupling. In addition, the design method for the whole system is also introduced. The ZYX Euler angle is adopted to describe the pose of motion simulator, and the parameters of the kinematics and dynamics are deduced in matrix form. In the dynamics part, the number of driving forces is reduced to achieve the cooperative force of each freedom. The driving system that one symmetric valve controls two asymmetric cylinders is simplified to be that one symmetric valve controls one symmetric cylinder in each freedom. Furthermore, the equivalent principle of eccentric load is introduced to study the influence of this load＇s stiffness on system＇s control performance. Finally, the design of whole driving mechanism and the verification of load matching for this motion simulator are accomplished by combining the kinematics and multibody dynamics model.
出处
《机器人》
EI
CSCD
北大核心
2012年第5期574-580,共7页
Robot
基金
国家自然科学基金资助项目(51105096)
关键词
冗余驱动
摇摆台
动力学分析
负载匹配
redundant actuation
motion simulator
dynamics analysis
load matching
