全向移动操作臂动力学建模与实验分析
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摘要
为了提高全向移动操作臂的控制精度,建立其运动学模型与动力学模型。首先,根据Mecanum轮的特性建立全向移动平台运动学模型,根据DH法则推导5自由度操作臂的运动学方程,并将操作臂基坐标与移动平台质心合而为一,推导出统一运动学方程;然后,在统一运动学模型的基础上,运用第二类拉格朗日方程,考虑移动平台和操作臂之间的耦合关系,考虑能量耗散问题,建立全向移动操作臂统一动力学模型;最后,依据设计搭建实验样机,并采用两种不同的转矩间接测量方法,在样机以不同运动方式情况下测量实时转矩,将之与由动力学方程算得的转矩计算值对比。结果表明,所建动力学模型正确可靠,为以后的运动控制提供了理论基础。
In order to improve the control precision of the omnidirectional mobile manipulator, its kinematics model and dynamics model are established. Firstly,the kinematics model of the omnidirectional mobile platform is established according to the characteristics of the Mecanum wheel. The kinematics equation of the 5-DOF manipulator is derived according to the DH rule,and the unified kinematics equation is derived by combining the basis coordinate of manipulator with the centroid of mobile platform. Then,based on the kinematics model,by using the second type of Lagrangian equation,considering the coupling relationship between the mobile platform and the manipulator,considering the energy dissipation problem,the unified dynamics model of the omnidirectional mobile manipulator is established. Finally,the experimental prototype is built according to the design,and two different torque indirect measurement methods are used. The real-time torque is measured in different motion modes of the prototype,and compared with the calculated torque value calculated by the dynamics equation. The result shows that the built dynamics model is correct and reliable,which provides a theoretical basis for future motion control.
In order to improve the control precision of the omnidirectional mobile manipulator, its kinematics model and dynamics model are established. Firstly,the kinematics model of the omnidirectional mobile platform is established according to the characteristics of the Mecanum wheel. The kinematics equation of the 5-DOF manipulator is derived according to the DH rule,and the unified kinematics equation is derived by combining the basis coordinate of manipulator with the centroid of mobile platform. Then,based on the kinematics model,by using the second type of Lagrangian equation,considering the coupling relationship between the mobile platform and the manipulator,considering the energy dissipation problem,the unified dynamics model of the omnidirectional mobile manipulator is established. Finally,the experimental prototype is built according to the design,and two different torque indirect measurement methods are used. The real-time torque is measured in different motion modes of the prototype,and compared with the calculated torque value calculated by the dynamics equation. The result shows that the built dynamics model is correct and reliable,which provides a theoretical basis for future motion control.
引文
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[14]夏鲲,徐梦晗,毕超.电机转矩波动测量方法综述[J].电子测量技术,2018(5):87-90.
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[16]段晓雅,于蓬,章桐,等.基于μ方法的电动车传动系统扭振鲁棒控制[J].机械传动,2017(2):1-5.
[17]邱志斌,阮江军,黄道春,等.基于电机电流检测的高压隔离开关机械故障诊断[J].中国电机工程学报,2015,35(13):3459-3466.
[2] SIEGWART R,NOURBAKHSH I,SCARAMUZZA D. Mobile Robot Localization[M]//Introduction to Autonomous Mobile Robots.Cambridge:MIT Press,2011:265-367.
[3]宋佐时,易建强,赵冬斌.移动机械手控制研究进展[J].机器人,2003,25(5):465-469.
[4]刘荣海,袁晖,杨迎春,等.移动操作臂研究现状和发展方向[J].工具技术,2017,51(5):3-8.
[5] ESLAMY M,MOOSAVIAN S A. Dynamics and cooperative object manipulation control of suspended mobile manipulators[J]. Journal of Intelligent&Robotic Systems,2010,60(2):181-199.
[6]杨海亮.轮式移动机器人机械臂跟踪技术研究[D].北京:北京化工大学,2009:1-9.
[7]赵冬斌,易建强,邓旭玥.全方位移动机器人结构和运动分析[J].机器人,2003,25(5):394-398.
[8]杨玉维,李强,王肖锋.轮式移动2杆刚-柔性机械手逆动力学仿真[J].系统仿真学报,2012,24(6):174-179.
[9]宋韬.轮式移动机械臂倾覆与滑移问题研究[D].上海:上海大学,2016:25-68.
[10] ESLAMY M,MOOSAVIAN S A A. Dynamics Modelling of Suspended Mobile Manipulators:An Explicit Approach With Verification[J]. International Journal of Modelling&Simulation,2011,31(2):112-119.
[11] PADOIS V,FOURQUET J Y,CHIRON P. Kinematic and dynamic model-based control of wheeled mobile manipulators:A unified framework for reactive approaches[J]. Robotica,2007,25(2):157-173.
[12]周秋雨,邢晓冬.一种可全向移动爬楼梯轮椅的结构设计与分析[J].机械传动,2016(4):74-80.
[13]王仲军,李桐栋,苗家森.刚体的动能计算[J].河北工程技术高等专科学校学报,2007(2):67-69.
[14]夏鲲,徐梦晗,毕超.电机转矩波动测量方法综述[J].电子测量技术,2018(5):87-90.
[15]刘博伟,李省阁.电动机转矩波动测量方法研究[J].微电机,2006,39(7):72-73.
[16]段晓雅,于蓬,章桐,等.基于μ方法的电动车传动系统扭振鲁棒控制[J].机械传动,2017(2):1-5.
[17]邱志斌,阮江军,黄道春,等.基于电机电流检测的高压隔离开关机械故障诊断[J].中国电机工程学报,2015,35(13):3459-3466.