并联机构动力学建模及控制研究*

作者：钟英英,楼云江,徐毅 日期：2009-04-21/span> 浏览：3592 查看PDF文档

并联机构动力学建模及控制研究*

钟英英,楼云江,徐毅
（哈尔滨工业大学深圳研究生院 自动控制与机电工程学科部，广东 深圳 518055）

摘要：为了系统地研究并联机构动力学特性，分析了4种基本建模方法（牛顿-欧拉方法、直接拉格朗日方法、拉格朗日-达朗贝尔方法和虚功原理方法），总结了各种方法的优缺点。在此基础上，对动力学的3种控制算法（经典PD控制、机器人控制中常用的计算力矩控制以及数控加工中的先进轮廓控制）在并联机构上的应用进行了分析研究。针对开发的三自由度（3-DoF）纯平动并联机构Orthopod，采用拉格朗日-达朗贝尔方法进行了动力学建模，并对其进行了控制仿真。研究结果显示，轮廓控制在轮廓误差控制方面具有更好的性能，适合于雕刻机的控制应用。
关键词：并联机构；动力学建模；控制策略；轮廓误差
中图分类号：TP113文献标识码：A文章编号：1001-4551(2009)04-0005-05

Survey on dynamic modeling and control of parallel manipulators
ZHONG Yingying, LOU Yun-jiang, XV Yi
(Division of Control and Mechatronics Engineering, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen 518055, China)
Abstract: In order to study the dynamic features of parallel manipulators, four methods, such as NewtonEuler formulation, direct Lagrange formulation，LagrangeD Alembert formulation and the virtual work, were analyzed. Advantages and shortcomings of those four formulations were concluded by a comparison. Three control strategies, such as PD control, computed torque control and contouring control, were researched for controlling of parallel manipulators. For demonstration purpose, the Orthopod of the 3DoF purely translational parallel manipulator, was modeled in LagrangeD Alembert formulation. Three control strategies were implemented in simulation. Research result shows that the contouring control has better performance in contouring accuracy, and it is suit for controlling the engraving machine.
Key words: parallel manipulators; dynamic modeling; control strategies; contouring error