冗余驱动并联机器人动力学建模与控制研究.pdf

国内图书分类号：TP242 学校代码：10213 国际图书分类号：621.1 密级：公开 工程工程硕硕士学位论文士学位论文 冗余驱动并联机器人动力学建模与 控制研究 硕 士 研 究 生 龙亿 导师 杨晓钧 副教授 申请学位 工程硕士 学科 机械工程 所在单位 深圳研究生院 答辩日期 2012 年 6 月 授予学位单位 哈尔滨工业大学 Classified Index: TP242 U.D.C: 621.1 Dissertation for the Master Degree of Engineering DYNAMIC MODELING AND CONTROL FOR A PARALLEL MANIPULATOR WITH REDUNDANT ACTUATION Candidate：： Long Yi Supervisor：： Vice Prof. Yang Xiao-Jun Academic Degree Applied for：： Master of Engineering Speciality：： Mechanical Manufacturing Affiliation：： Shenzhen Graduate School Date of Defence：： June, 2012 Degree-Conferring-Institution：： Harbin Institute of Technology 摘 要 - I - 摘 要 并联机器人由多条运动支链组成，其精度、刚度等方面优于串联机器人，在工业中得到了广泛的应用。

但是由于其结构的复杂性，且各支链间存在非线性强耦合的关系， 加上奇异位形的存在， 限制了并联机构最大限度地发挥作用冗余自由度机器人，特别是冗余驱动的提出对消除并联机构的奇异位形，改善机构的运动学性能与动力学性能方面具有重要意义 本文以二自由度平面冗余驱动并联机器人模型为研究对象，从基于螺旋理论的运动学性能分析、基于Kane 方法的动力学模型建立以及动力学性能分析和机器人控制器设计三个主要方面做了深入研究 螺旋理论在作机构运动学分析方面比较简洁，明了利用螺旋理论分别建立机构自由度计算的一般公式以及非冗余机构与冗余机构雅可比矩阵， 画出机构运动性能的两个评价指标即机构刚度与灵巧性随时间的变化曲线， 可知冗余机构有利于改善机构的运动学性能 利用 Kane 方程建立二自由度平面冗余驱动并联机器人的动力学模型，基于该模型， 采用拉格朗日乘子法从静态和动态两方面对主动关节的驱动力矩进行优化，并通过 Matlab 仿真的形式，验证此种优化方法的正确性，为平面二自由度冗余驱动并联机器人的控制器设计提供理论基础 本文在研究已有的传统控制方法与现代智能控制方法的基础上， 提出了自适应滑模同步控制方法与传统的方法作轨迹跟踪仿真实验比较， 以验证所提出方法的有效性。

关键词：冗余驱动；螺旋理论；Kane 方程；力矩优化；同步控制 Abstract - II - Abstract A parallel robot is composed of more than two chains and has been widely applied in the industry for its superior precision, stiffness compared with serial robots. But due to its structural complexity, nonlinear and coupling relationship exists among kinematic chains. In addition, singularities of parallel mechanism influence and limit its wide application. Redundant robots, especially the redundantly actuated parallel mechanisms are presented to solve this problem to improve mechanism kinematics and dynamics performances. This thesis, taking a 2-DOF planar parallel mechanism with redundant actuation as the study object, presents three main aspects in-depth: kinematics performance analysis based on screw theory, dynamic modeling based on Kane method and dynamic performance analysis and robot controller design. Screw theory for kinematics analysis is more concise and clear. In this thesis, a general formula of mechanism freedom was established with screw theory and Jacobin matrices of non-redundant and redundant actuation mechanisms were generated with screw theory. Two figures for two kinematics indexes called stiffness and dexterity changing with time were ploted. It can be concluded from those curves that redundantly actuated parallel manipulators can improve kinematics performances. Dynamic model of a 2-D planar redundantly actuated parallel mechanism was determined based on Kane equation. After that, Lagrange multiplier methods separately from static and dynamic aspects to optimize actuation torques were stated. Through Matlab simulation, those optimization methods were verified to be correct. This part laid foundation for controller design of the studied mechanism. Existing traditional control methods and modern intelligent counterpart were compared and an adaptive sliding mode synchronous controller was put forward. After trajectory tracking simulation experiments, the effectiveness of this method was verified. This thesis referenced many outstanding achievements in this field and used or put forward new method to some extent, which is used to drive studied mechanism. In conclusion, this paper provides valuable reference for further research of the redundantly actuated parallel manipulator. Keywords: redundant actuation, screw theory, Kane equation, torque optimization, synchronous control. 目 录 - III - 目 录 摘 要 ................................................................................................................. I ABSTRACT ........................................................................................................ II 第 1 章 绪 论 ................................................................................................... 1 1.1 冗余度机器人的国内外研究现状 ....................................................... 1 1.1.1 运动学研究 ......................................................................................... 3 1.1.2 动力学研究 ........................................................................................ 4 1.1.3 控制方法研究 .................................................................................... 5 1.2 旋量理论的发展及其在机器人领域的应用 .......................................... 6 1.3 论文的选题意义及其主要研究内容 ..................................................... 7 1.3.1 论文的选题意义 ................................................................................ 7 1.3.2 论文的主要研究内容 ......................................................................... 8 第 2 章 基于旋量理论并联机构的性能分析 ...................................................... 9 2.1 旋量理论的基本概念 ......................................................................... 9 2.1.1 刚体运动 ........................。