Dynamic performance comparison and counterweight optimization of two 3-DOF parallel manipulators for a new hybrid machine tool
Dynamic performance comparison and counterweight optimization of two 3-DOF parallel manipulators for a new hybrid machine tool
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新型混合机床两个三自由度并联机械臂动态性能对比及配重优化
DOI：
10.1016/j.mechmachtheory.2010.06.009
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发表时间：
2010-11-01
影响因子：
5.2
通讯作者：
Wang, Li-Ping
中科院分区：
文献类型：
--
作者：
Li, Yuwen;Wang, Jinsong;Wang, Li-Ping
比较了半自由度和半(星型)两种三自由度并联机器人的动力学性能，提出了一种新的平衡质量优化方法，为新型混联机床的研制提供了依据。由于机械手具有两个平移自由度和一个转动自由度的相同灵活性，并且机床是为高速加工而设计的，因此确定哪个机械手具有更好的动态特性就变得非常重要。为此，通过拉格朗日公式推导了机械手的动力学模型，并由于单元的不均匀而分离了平移量和转动量。提出了性能指标来衡量加速度、速度和外载荷能力，并将其用于配重优化，以最小化满足所需加速度和速度限制的作动器作用力。仿真结果表明，半轴(星形)比半轴具有更好的线加速度和线速度性能，因此被选作混联机床的驱动元件。通过配重优化，所需最大加速度和速度的执行机构力可减少10%(C)2010爱思唯尔有限公司。保留所有权利。
The dynamic performance of two 3-DOF parallel manipulators, the HALF and the HALF(star), is compared and a new optimization method for the counterweight masses is proposed for the development of a new hybrid machine tool. Since the manipulators have the same mobility of two translational and one rotational DOFs and the machine tool is designed for high-speed machining, it becomes significant to determine which manipulator has better dynamic characteristics. For this purpose, the dynamic models of the manipulators are derived via the Lagrangian formulation and the translational and rotational quantities are separated due to the unit inhomogeneity. Performance indices are proposed to measure the acceleration, velocity, and external loading capabilities, and then are used in counterweight optimization to minimize the actuator forces for the required acceleration and velocity limitations. Simulation results show that the HALF(star) provides better linear acceleration and linear velocity performance than the HALF, thus it is chosen for the hybrid machine tool. With the counterweight optimization, the actuator forces for the required maximum accelerations and velocities can be reduced by ten percent (C) 2010 Elsevier Ltd. All rights reserved.