Liu Zhen, Yang Song, Cheng Chen, Ding Tao, Chai Ruimin
Xi'an Research Inst. of Hi-Tech, Xi'an 710025, China.
Xi'an North Electro-Optic Science and Technology Defense Co., Ltd., Xi'an 710043, China.
Math Biosci Eng. 2023 Jan;20(1):807-836. doi: 10.3934/mbe.2023037. Epub 2022 Oct 14.
The application of a high-speed parallel manipulator necessitates the adoption of a lightweight design to reduce dead weight. However, this increases the elastic deformation of certain components, affecting the dynamic performance of the system. This study examined a 2-DOF planar flexible parallel manipulator. A dynamic model of the parallel manipulator composed of fully flexible links was established using a floating reference coordinate system and a combination of the finite element and augmented Lagrange multiplier methods. A dynamic analysis of the simplified model under three driving torque modes showed that the axial deformation was less than the transverse deformation by three orders of magnitude. Further, the kinematic and dynamic performance of the redundant drive was significantly better than that of the non-redundant drive, and the vibration was well suppressed in the redundant drive mode. In addition, the comprehensive performance of driving Mode 2 was better than that of the other two modes. Finally, the validity of the dynamic model was verified by modeling via Adams. The modular modeling method is conducive to the extension to other models and programming. Furthermore, the dynamic model of the established fully flexible link system can aid in optimizing the lightweight design and dynamic performance of the parallel manipulator.
高速并联机器人的应用需要采用轻量化设计以减轻自重。然而，这会增加某些部件的弹性变形，影响系统的动态性能。本研究考察了一种二自由度平面柔性并联机器人。采用浮动参考坐标系以及有限元法与增强拉格朗日乘子法相结合的方式，建立了由全柔性连杆组成的并联机器人动力学模型。对简化模型在三种驱动扭矩模式下的动力学分析表明，轴向变形比横向变形小三个数量级。此外，冗余驱动的运动学和动力学性能明显优于非冗余驱动，且在冗余驱动模式下振动得到了很好的抑制。另外，驱动模式2的综合性能优于其他两种模式。最后，通过Adams建模验证了动力学模型的有效性。模块化建模方法有利于扩展到其他模型和编程。此外，所建立的全柔性连杆系统动力学模型有助于优化并联机器人的轻量化设计和动态性能。
