研究冗余过度约束并行机制的高精度刚度建模方法
Sen Wang1,2, Haoran Li1,2, Xueyan Han1,2
1Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China.
Sensors (Basel, Switzerland)
|July 14, 2023
概括
本研究引入了一种新的全球度模型,用于平行机制 (PMs),以计算关节清除和变形. 该方法增强了复杂机器人系统的刚度评估.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 计算力学 计算力学 计算力学
背景情况:
- 现有的平行机制 (PM) 刚度建模方法是分散的,缺乏统一的,全球性的方法.
- 这些方法往往无法全面考虑关节清除和变形等因素,限制了准确性.
研究的目的:
- 为冗余,过度约束的并行机制 (PMs) 开发一个统一的,全球静态刚度建模方法,其中包括关节清除和变形.
- 提供一种高精度的方法来评估复杂的PM的刚性性能.
主要方法:
- 利用螺丝理论,应变能量和虚拟工作原理来建立全球刚性模型.
- 将驱动度,分支变形,冗余驱动,关节空隙和关节接触变形纳入模型.
- 采用概率统计模型来解决由于合分支约束力的联合偏移和接触区域的不确定性.
- 在2UPR-RR-2RPU冗余的PM上通过有限元分析 (FEA) 验证了该方法.
主要成果:
- 通过使用应变能量和卡斯蒂格里亚诺的第二定理,成功开发了理想关节机制的全球刚度矩阵.
- 建立了关节清除,接触变形和终端效应器变形之间的数学关系.
- 在合力下,量化了与关节空隙和接触变形相关的不确定性.
- FEA模拟证实了拟议的高精度刚度建模方法的准确性和有效性.
结论:
- 提出的刚性建模方法为冗余,过度约束的并行机制提供了一个全面和统一的方法.
- 该方法准确评估PM的刚性性能,解决传统方法的局限性.
- 该研究为设计和分析高精度机器人系统提供了宝贵的工具.
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