一种六自由度海浪模拟并联平台的零点标定与性能评估
|
摘要
针对并联机器人中存在的运动精度欠缺的问题,对一种用于海浪模拟的六自由度并联平台进行了零点标定与性能评估。确立了并联平台的运动控制模型,通过齐次坐标方法建立了该并联平台的运动学反解,并且在运动学反解的基础上采用边界搜索法确定了平台定姿态时的工作空间。采用"PC机+运动控制卡"的控制模式对该平台进行了运动控制系统的设计,实现了并联平台的运动控制。首先运用矢量推导法建立了平台的零点误差模型,然后借助于激光跟踪仪对平台进行了零点标定,提高了平台的运动性能。最后针对特定的海浪谱,利用该平台对其进行了模拟实验,并根据实验结果对平台的跟踪性能进行了分析。研究结果表明,经过零点标定后的并联平台能够很好地对海浪进行跟踪模拟。
Aiming at the problem that parallel robot exists the lack of movement precision,the zero calibration and performance assessment for a 6- DOF parallel platform used for wave simulation were completed. The inverse kinematics was acquired by using homogeneous coordinates method so as to establish the motion control model of the platform,and the workspace of certain posture was obtained by using boundary search method based on inverse kinematics. The motion control of the platform was realized,the design of control system was done by choosing PC and motion controller as the control mode. The motion performance was improved,vector derivation method was adopted to build the zero point error model,and zero calibration was implemented with the help of laser tracker.Finally,the platform was used to simulate a certain wave spectrum and the tracking performance was analyzed according to the experimental results. The results indicate that the calibrated platform has a good simulation performance.
Aiming at the problem that parallel robot exists the lack of movement precision,the zero calibration and performance assessment for a 6- DOF parallel platform used for wave simulation were completed. The inverse kinematics was acquired by using homogeneous coordinates method so as to establish the motion control model of the platform,and the workspace of certain posture was obtained by using boundary search method based on inverse kinematics. The motion control of the platform was realized,the design of control system was done by choosing PC and motion controller as the control mode. The motion performance was improved,vector derivation method was adopted to build the zero point error model,and zero calibration was implemented with the help of laser tracker.Finally,the platform was used to simulate a certain wave spectrum and the tracking performance was analyzed according to the experimental results. The results indicate that the calibrated platform has a good simulation performance.
引文
[1]邱法维,袁建光,沙锋强,等.六自由度减摇模拟器系统研发[J].Hydraulics Pneumatics&Seals,2012(12):22-24.
[2]颜旗权.六自由度飞行模拟器的研究[D].哈尔滨:哈尔滨工业大学机电工程学院,2008.
[3]PENG B B,GAO F.Modeling for calibration of parallel ro-bot[J].Chinese Journal of Mechanical Engineering,2005,41(8):132-135.
[4]SHEN H P,ZHANG H F,XING X M.New progresses of er-ror analysis modeling and calibration of parallel kinematicmachine[J].China Mechanical Engineering,2008,9(1):120-125.
[5]孙月海,王兰,梅江平,等.基于单目视觉的Delta机器人零点标定方法[J].天津大学学报,2013,46(3):239-243.
[6]王军,杨勇,罗诗风,等.基于PMAC运动控制卡的六自由度运动平台控制系统开发[J].机床与液压,2012,40(9):77-80.
[7]潘大亨.六自由度动感平台的控制与仿真[D].上海:华东理工大学机械与动力工程学院,2012.
[8]王顺利.6-3平台并联运动机床研究[D].南京:南京航空航天大学机电学院,2010.
[9]齐佐.6-THRT并联机构受力分析与仿真[D].南京:南京理工大学机械工程学院,2008.
[10]张松.六自由度运动平台的控制系统[D].上海:华东理工大学机械与动力工程学院,2011.
[11]蒋梦捷,张志宇,郑立功,等.六自由度Stewart平台空间解析及误差分析[J].机械传动,2013,37(2):87-89.
[12]顾云鹭.六自由度并联地震模拟振动台全误差分析及标定研究[D].上海:上海交通大学机械与动力学院,2012.
[13]潘伯钊,宋轶民,王攀峰,等.基于激光跟踪仪的混联机器人快速零点标定方法[J].机械工程学报,2012,10(45):31-37.
[14]皮阳军,王宣银,罗晓晔,等.六自由度舰船运动模拟器随机海浪谱模拟[J].振动、测试与诊断,2010,30(4):375-378.
[15]徐德伦,于定勇.随机海浪理论[M].北京:高等教育出版社,2001.
[2]颜旗权.六自由度飞行模拟器的研究[D].哈尔滨:哈尔滨工业大学机电工程学院,2008.
[3]PENG B B,GAO F.Modeling for calibration of parallel ro-bot[J].Chinese Journal of Mechanical Engineering,2005,41(8):132-135.
[4]SHEN H P,ZHANG H F,XING X M.New progresses of er-ror analysis modeling and calibration of parallel kinematicmachine[J].China Mechanical Engineering,2008,9(1):120-125.
[5]孙月海,王兰,梅江平,等.基于单目视觉的Delta机器人零点标定方法[J].天津大学学报,2013,46(3):239-243.
[6]王军,杨勇,罗诗风,等.基于PMAC运动控制卡的六自由度运动平台控制系统开发[J].机床与液压,2012,40(9):77-80.
[7]潘大亨.六自由度动感平台的控制与仿真[D].上海:华东理工大学机械与动力工程学院,2012.
[8]王顺利.6-3平台并联运动机床研究[D].南京:南京航空航天大学机电学院,2010.
[9]齐佐.6-THRT并联机构受力分析与仿真[D].南京:南京理工大学机械工程学院,2008.
[10]张松.六自由度运动平台的控制系统[D].上海:华东理工大学机械与动力工程学院,2011.
[11]蒋梦捷,张志宇,郑立功,等.六自由度Stewart平台空间解析及误差分析[J].机械传动,2013,37(2):87-89.
[12]顾云鹭.六自由度并联地震模拟振动台全误差分析及标定研究[D].上海:上海交通大学机械与动力学院,2012.
[13]潘伯钊,宋轶民,王攀峰,等.基于激光跟踪仪的混联机器人快速零点标定方法[J].机械工程学报,2012,10(45):31-37.
[14]皮阳军,王宣银,罗晓晔,等.六自由度舰船运动模拟器随机海浪谱模拟[J].振动、测试与诊断,2010,30(4):375-378.
[15]徐德伦,于定勇.随机海浪理论[M].北京:高等教育出版社,2001.
版权所有：© 2023 中国地质图书馆 中国地质调查局地学文献中心