Study on Dynamic Parameters Identification Method of 3-DOF Cable-driven Parallel Robot System
Aiming at the problem that it is difficult to identify the dynamic parameters of the electromechanical coupling system due to the complex structure and strong coupling characteristics of the drive unit of the cable-driven parallel robot,by integrating the moment of inertia and viscous damping coefficient of each coupling component of the drive unit,the servo motor and the winch mechanism are combined as a whole research object,and the dynamic model of the system is established,an identification model that can separate the parameters to be identified is built.The excitation trajectory of the end effector is optimized by using Fourier series,the test platform is built,and the test data is collected;the motor torque data is fitted by using the weighted least squares method,and the dynamic parameters of the robot system are identified by using the step-by-step identification method.The comparative experiments show that the present dynamic parameter identification method is feasible and the identification results are reliable.
cable-driven parallel robotelectromechanical coupling systemmoment of inertiaviscous damping coefficientstep-by-step identification
万方数据
维普
