大刚体姿态计算及多轴同步协调控制技术

摘要/Abstract

摘要：

大刚体的姿态计算及其高精度控制是飞机、舰船等大型机器总装生产线的关键技术。针对一种六自由度的大刚体的姿态控制系统提出一种快速的姿态计算方法和高精度的多轴协调控制方法。以基础平台建立固定坐标系，以大刚体的中心建立连体坐标系，在此基础上建立大刚体姿态计算数学模型，通过测量大刚体上4个靶标的初始位置和目标位置，就可计算出大刚体4个支撑柱的三坐标的位移增量；在多轴同步控制技术中，引入同步误差积分补偿方法(CSEI)，通过同步误差在相反方向的控制作用，可显著提高大刚体姿态调整的速度和精度。仿真表明,所提出的姿态计算方法和CSEI控制方法快速有效，对工程应用具有指导意义。

关键词: 大刚体, 位姿调节, 同步协调控制, 自由度

Abstract:

Calculation of large rigid body pose and its high precision control was studied herein. Aiming at the 6-DOF large rigid body pose alignment system, a fast calculation approach to the pose and a high precision multi-axis coordinating control system was presented. Firstly, mathematic models of large rigid body pose calculation were established respectively on a global frame which was found on the basic platform and a body-fixed frame system which was found on the center of the large rigid body. By detecting the initial positions and the final positions of four marks on the large rigid body, the displacement increments of three coordinates of the four supports could be easily calculated. Then, a compensation of synchronization error integration technology was proposed for the large rigid body pose alignment system. By the technology, the precision and speed of large rigid pose alignment could be improved significantly. The simulation results show that the proposed approach is rapid and effective, the control algorithm has guiding significance for engineering applications of large rigid body pose alignment.

Key words: large rigid body, pose alignment, synchronous coordinating control, degree of freedom(DOF)

中图分类号:

TP241

屈稳太, 应蓓华, 董凤莲. 大刚体姿态计算及多轴同步协调控制技术[J]. 中国机械工程, 2014, 25(22): 3050-3055.

Qu Wentai, Ying Beihua, Dong Fenglian. Calculation of Large Rigid Body Pose and Multi-axis Synchronous Coordinating Control[J]. China Mechanical Engineering, 2014, 25(22): 3050-3055.

参考文献

[1]Choi J, Ryu H S, Kim C W. An Efficient and Robust Contact Algorithm for a Compliant Contact Force Model between Bodies of Complex Geometry[J]. Multibody System Dynamics,2010,23(1):99-120.
[2]李艳文,黄真,王鲁敏，等.新型4自由度并联机器人运动学分析[J].机械工程学报,2008,44(10):66-71, 76.
Li Yanwen,Huang Zhen,Wang Lumin,et al.Kinematics Analysis of Novel 4-DOF Parallel Manipulator[J].Chinese Journal of Mechanical Engineering,2008,44(10):66-71,76.
[3]季晔,刘宏昭,原大宁,等.一种四自由度并联机构的性能指标分析[J].中国机械工程,2012,23(3):258-263.
Ji Ye,Liu Hongzhao,Yuan Daning,et al.Analyses for Performance Indices of a Four-DOF Parallel Manipulator[J]. China Mechanical Engineering,2012,23(3):258-263.
[4]Lee D,Kim J,Seo T W.Optimal Design of 6-DOF Eclipse Mechanism Based on Task-oriented Workspace[J]. Robotica, 2012, 30(7):1041-1048.
[5]陈修龙,冯伟明,赵永生.五自由度并联机器人机构动力学模型[J].农业机械学报,2013,44(1):236-243.
Chen Xiulong,Feng Weiming,Zhao Yongsheng.Dynamics Model of 5-DOF Parallel Robot Mechanism[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(1):236-243.
[6]Giovanni L,Federico C,Paolo R,and Bruno Z. A Homogeneous Matrix Approach to 3D Kinematics and Dynamics—I. Theory[J]. Mechanism and Machine Theory,1996,31(5):573-587.
[7]Giovanni L,Federico C,Paolo R,et al.A Homogeneous Matrix Approach to 3D Kinematics and Dynamics—II. Applications to Chains of Rigid Bodies and Serial Manipulators[J].Mechanism and Machine Theory,1996,31(5):589-605.
[8]Chen C, Gayral T, Caro S. A Six Degree of Freedom Epicyclic-Parallel Manipulator[J]. Journal of Mechanisms and Robotics-Transactions of the ASME,2012,4(4):041011-1-8.
[9]Silva O L,Menegaldo L L.Inverse Dynamics of a Redundantly Actuated Four-bar Mechanism Using an Optimal Control Formulation[J].Journal of Dynamic Systems Measurement and Control-Transactions of the ASME,2011,133(6).
[10]Zi B,Cao J,Zhu Z.Dynamic Simulation of Hybrid-driven Planar Five-bar Parallel Mechanism Based on SimMechanics and Tracking Control[J].International Journal of Advanced Robotic Systems,2011,8(4):28-33.
[11]Seo T W,Kang D S,Kim H S,et al.Dual Servo Control of a High-Tilt 3-DOF Microparallel Positioning Platform[J].IEEE-ASME Trans. on Mechatronics,2009,14(5):616-625.
[12]林光春,徐礼钜,隆飞.带闭链六自由度工业机器人动力学解析模型[J].机械设计,2004,21(2):34-37.
Ling Guangchun,Xu Liju,Long Fei.Dynamics Analytical Model of 6-dof Industrial Robot Containing Closed Chain[J]. Chinese Journal of Mechanical Engineering,2004,21(2):34-37.
[13]Qu W,Dong F,Guo J.Calculation of Large Rigid Body Pose and Technology of Synchronous Coordinating Control for Multi-axis[C]//2nd International Conference on Advanced Design and Manufacturing Engineering.Taiyuan,2012:1190-1198.
[14]Lin Y,Tu X,Xi F,et al.Robust Pose Estimation with an Outlier Diagnosis Based on a Relaxation of Rigid Body Constraints[J]. Journal of Dynamic Systems Measurement and Control-Transactions of the ASME,2013,135(1):014502-1-6.
[15]房立金,党鹏飞.带有约束的3-TPS并联机床位姿误差分析[J].机械工程学报,2013,49(1):9-14.
Fang Lijin,Dang Pengfei.Pose Error Analysis of 3-TPS Parallel Kinematics Machine with Constraint Mechanism[J]. Journal of Mechanical Engineering,2013,49(1):9-14.
[16]Mura A. Six dof. Displacement Measuring Device Based on a Modified Stewart Platform[J]. Mechatronics, 2011, 21(8): 1309-1316.
[17]Masouleh M T,Gosselin C.Singularity Analysis of 5-RPUR Parallel Mechanisms(3T2R)[J].International Journal of Advanced Manufacturing Technology,2011,57(9/12):1107-1121.