基于滑模的混联仿人空间机械臂轨迹跟踪控制

摘要/Abstract

摘要：

针对空间高速目标抓取任务中对手臂伸出定位基本动作的要求,提出一种4-DOF串并混联仿人机械臂。重点设计了以球面并联机构为机构原型的高承载力肩关节以及轻量化的驱动装置与低惯量的布置形式。考虑混联的结构特点，利用李群李代数法并结合虚功原理推导了机械臂的动力学方程，该方法可避免约束反力的处理与逻辑开链的划分以及大量的微分运算。在此基础上，针对混联结构的强非线性和强耦合性,使用滑模控制器对机械臂进行轨迹跟踪控制，验证了所提滑模控制器的有效性。

关键词: 混联仿人机械臂, 球面并联机构, 动力学建模, 李群李代数法, 滑模控制

Abstract:

To study the reaching motion of arm in high-speed target grasp tasks, a 4-DOF hybrid humanoid space mechanical arm was presented. The design of the shoulder joint with high bearing capacity which was based on spherical parallel manipulator, light weight device drivers and layout form with low moment of inertia were stressed on. Considering the structure characteristics of hybrid mechanism, the dynamics analyses were investigated using the principle of virtual work and Lie group and Lie algebra. This method can avoid the processing of constraint reaction and the division of logic open-chains and a lot of differential operations. The trajectory tracking task was completed by using the sliding mode control(SMC) which could cope with the high nonlinearity and couplings of the hybrid humanoid space mechanical arm. Simulation results show the effectiveness of the SMC.

Key words: hybrid humanoid mechanical arm, spherical parallel manipulator, dynamics modeling, Lie groups and Lie algebra, sliding mode control

中图分类号:

TP242.2

秦利, 刘福才, 梁利环, 金振林. 基于滑模的混联仿人空间机械臂轨迹跟踪控制[J]. 中国机械工程, 2015, 26(4): 435-441.

Qin Li , Liu Fucai, Liang Lihuan, Jin Zhenlin. Hybrid Humanoid Space Mechanical Arm Trajectory Tracking Control Based on Sliding Mode[J]. China Mechanical Engineering, 2015, 26(4): 435-441.

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