| 柔顺关节并联机器人动力学建模与控制研究 |
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| 引用本文： | 田 浩,余跃庆. 柔顺关节并联机器人动力学建模与控制研究[J]. 农业机械学报, 2014, 45(5): 278-283 |
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| 作者姓名： | 田 浩 余跃庆 |
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| 作者单位： | 北京工业大学;北京工业大学 |
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| 基金项目： | 国家自然科学基金资助项目（51175006）、北京市教委青年拔尖人才培育计划资助项目、北京工业大学青年导师国际化能力发展计划资助项目（2014-03）和北京工业大学第12届研究生科技基金资助项目（ykj-2013-10018） |
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| 摘 要： | 对具有大范围运动特性的柔顺关节并联机器人开展了动力学建模、特性分析、控制策略设计及动态性能分析等研究。基于伪刚体法,研究柔顺关节特性,建立含大变形柔顺关节的系统模型,应用拉格朗日方法建立了系统动力学方程。为补偿柔顺关节引起的系统振动、未建模动态以及惯性参数摄动造成的模型误差,设计趋近律滑模控制策略并证明了其稳定性。仿真结果验证了动力学模型和控制策略的有效性。
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| 关 键 词： | 柔顺关节 并联机器人 动力学 趋近律滑模控制 |
| 收稿时间： | 2013-12-24 |
Dynamics and Control of Parallel Robot with Compliant Joints |
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| Tian Hao and Y u Yueqing. Dynamics and Control of Parallel Robot with Compliant Joints[J]. Transactions of the Chinese Society for Agricultural Machinery, 2014, 45(5): 278-283 |
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| Authors: | Tian Hao and Y u Yueqing |
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| Affiliation: | Beijing University of Technology;Beijing University of Technology |
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| Abstract: | The researches on dynamic modeling, characteristic analysis, control strategy design and dynamic performance analysis for the parallel robot with compliant joints, which had the property of large range motion, were carried out. Based on pseudo rigid body model, the characteristics of compliant joints were investigated and system model with large deformation compliant joints was set up. The dynamic equation was obtained based on Lagrange method. A reaching law sliding mode control strategy was designed to eliminate the vibration and the unmodelled dynamics caused by compliant joints and the model error made by inertia parameter perturbation. And the stability of control strategy was verified. Simulation results showed that dynamic model and control strategy were effective. |
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| Keywords: | Compliant joints Parallel robot Dynamics Reaching law sliding mode control |
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