由音圈电机驱动的三杆柔度并联机器人的设计与动力学建模

Design and Dynamic Modeling of a 3-RPS Compliant Parallel Robot Driven by Voice Coil Actuators.

作者信息

Wang Chuchao, Lu Shizhou, Zhang Caiyi, Gao Jun, Zhang Bin, Wang Shu

机构信息

School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, China.

出版信息

Micromachines (Basel). 2021 Nov 25;12(12):1442. doi: 10.3390/mi12121442.

DOI:10.3390/mi12121442

PMID:34945291

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8708717/

Abstract

In order to increase the driving force of the voice coil actuator while reducing its size and mass, the structural parameters of the coil and magnet in the actuator are optimized by combing Biot-Savart law with Lagrangian interpolation. A 30 mm × 30 mm × 42 mm robot based on a 3-RPS parallel mechanism driven by voice coil actuators is designed. The Lagrangian dynamic equation of the robot is established, and the mapping relationship between the driving force and the end pose is explored. The results of dynamic analysis are simulated and verified by the ADAMS software. The mapping relationship between the input current and the end pose is concluded by taking the driving force as the intermediate variable. The robot can bear a load of 10 g. The maximum axial displacement of the robot can reach 9 mm, and the maximum pitch angle and return angle can reach 40 and 35 degrees, respectively. The robot can accomplish forward movement through vibration, and the maximum average velocity can reach 4.1 mm/s.

摘要

为了在减小音圈驱动器尺寸和质量的同时增加其驱动力，通过将毕奥 - 萨伐尔定律与拉格朗日插值相结合，对驱动器中的线圈和磁体的结构参数进行了优化。设计了一种基于由音圈驱动器驱动的3 - RPS并联机构的30 mm×30 mm×42 mm机器人。建立了机器人的拉格朗日动力学方程，并探究了驱动力与末端位姿之间的映射关系。通过ADAMS软件对动力学分析结果进行了仿真验证。以驱动力为中间变量，得出了输入电流与末端位姿之间的映射关系。该机器人能够承受10 g的负载。机器人的最大轴向位移可达9 mm，最大俯仰角和回转角分别可达40度和35度。该机器人可通过振动实现向前运动，最大平均速度可达4.1 mm/s。