Research on the inertia matching of the Stewart parallel manipulator
Research on the inertia matching of the Stewart parallel manipulator
复制标题
Stewart并联机械臂惯量匹配研究
DOI：
10.1016/j.rcim.2012.04.001
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发表时间：
2012-12-01
影响因子：
10.4
通讯作者：
Wang, Li-Ping
中科院分区：
文献类型：
--
作者：
Shao, Zhu-Feng;Tang, Xiaoqiang;Wang, Li-Ping
随着并联机器人的发展，惯性匹配作为发挥并联机器人良好潜力的关键因素，逐渐受到重视。然而，迄今为止，既没有明确的惯性指标，也没有提出惯性匹配方法。本文以Stewart并联机器人为研究对象，对上述问题进行了探讨。首先，在动力学建模的基础上，采用肢雅可比矩阵，推导出Stewart并联机器人关节空间惯量矩阵的简洁代数表达式。其次，在对关节空间惯性矩阵进行耦合分析的基础上，提出了并联机器人的惯性指标--关节反射惯性。在此基础上，综合考虑机械谐振频率、加速度转矩和动力学性能等因素，通过仿真分析，得出了Stewart并联机器人的实用惯量匹配原则。最后，推导了电机惯量的可用范围，并以Stewart并联机器人为例进行了惯量匹配。本文提出的惯量指标和惯量匹配方法可进一步用于其它并联机器人的动力学分析和运动系统设计。(C)2012爱思唯尔有限公司保留所有权利。
With the development of the parallel manipulator, inertia matching as an essential factor to realize good potentials of the parallel manipulator is taken serious gradually. However, neither definite inertia index nor inertia matching method has been proposed so far. In this paper, the above issues are discussed by taking the Stewart parallel manipulator as a study object. Firstly, adopting limb Jacobian matrices, the concise algebraic expression of the joint-space inertia matrix of the Stewart parallel manipulator is deduced, based on the dynamic modeling. Next, on the basis of the coupling analysis of the joint-space inertia matrix, the inertia index of the parallel manipulator, the Joint-Reflected Inertia, is proposed. Then, the practical inertia matching principles of the Stewart parallel manipulator are concluded on the basis of simulations, considering multiple factors, such as mechanical resonance frequency, acceleration torque and dynamic performance. Finally, the available range of the motor inertia is deduced, and the inertia matching of the Stewart parallel manipulator is finished as the case study. The inertia index and inertia matching method suggested in this paper can be further used in other parallel manipulators for dynamic analysis and motion system design. (C) 2012 Elsevier Ltd. All rights reserved.