3-RUU并联主手动态力感建模与仿真分析.docVIP

  3-RUU 并联主手动态力感建模与仿真分析# 于凌涛，宋华建，王正雨，王涛，杨景* （哈尔滨工程大学机电工程学院,黑龙江 哈尔滨 150001） 5 10 15 20 25 30 35 40 摘要：在机器人主从控制过程中，力反馈精度作为力觉主手的一个重要指标，通常由主手的 力感模型决定。由于主手力感模型通常建立在静力学基础上，所以在运动过程中精度相对 较低。为进一步提高力反馈精度，本文基于多刚体动力学普遍方程及拉格朗日方程，求得 3-RUU 并联主手的逆动力学模型，进而提出并建立了基于主手动力学的动态力感模型。运 用 Adams 软件，将其动力学仿真结果与动态力感模型计算出的驱动力矩相比较，证明了该 主手动态力感模型的正确性；此外，将动态力感模型的仿真结果与基于静力学的静态力感 模型进行比较，得出两种力感模型之间的误差百分比曲线，从而进一步证明了动态力感模 型具有较高的力反馈精度。 关键词：机械电子；3-RUU 并联主手；力反馈精度；力感模型；仿真比较 中图分类号：TP242 Dynamics Forces Modelling and Simulation for YU Lingtao, SONG Huajian, WANG Zhengyu, WANG Tao, YANG Jing (College of Mechanical and Electrical Engineering,Harbin 150001,China) Abstract: In the master-slave robot control process, accuracy for force feedback as an important index of the haptic master hands, is usually a force model of the main hand to be determined. As the main Acupressure model is usually based on their sense of static model, so the accuracy is relatively low in the process of movement. To further enhance the precision of force feedback, according to the general equation of multi-body dynamics and Lagrange equations, obtained the inverse dynamics model of 3-RUU parallel main hand, thereby establishing a dynamic forces model based on master manipulator dynamics. Through application of Adams to compare the dynamic simulation results with the driving torque of the dynamic forces model, and thus demonstrated the dynamic forces model of the main hand is right;Further, compare the simulation results of the dynamic forces model with the static simulation torque, we can get the curve about percentage error between the force model of main hand and the dynamic forces model,and demonstrated the dynamic forces model has a higher precision in force feedback． Key words: Ｍechatronics;3-RUU Parallel main hand;Accuracy in force feedback; Force model; Simulation comparison 0 引言 作为主、从控制机器人系统的关键部件，具有力反馈功能的主手不仅可以向系统输出运 动信息而且还能向操作者输出力（矩）信息，从而使操作者获得力觉临场感[1]。作为该类主 手的重要指标，其力反馈精度由主手的力感模型来决定。所谓力感模型即：主手在不同的位 姿下，电机输入的驱动力（矩）与相应的末端输出力（矩）的