并联式六维加速度/力感知机构的设计及分析
Design and Analysis of Six-Axis Acceleration/Force-Sensing Parallel Mechanism
史浩飞 1尤晶晶 1姜杰凤 2李成刚 3黄磊 1石雨婷1
作者信息
- 1. 南京林业大学机械电子工程学院 南京,210037
- 2. 杭州师范大学工学院 杭州,310036
- 3. 南京航空航天大学机电学院 南京,210016
- 折叠
摘要
为了解决感知机构对加速度和力信息同时反馈的问题,设计了一种基于 3-RPR平面并联机构的六维加速度/力感知机构,推导了解耦算法,分析了解耦精度、灵敏度与结构参数之间的关联.首先,综合运用Angeles特征长度法和Gosselin奇异分析法,绘制了并联机构的奇异曲面;其次,设计了感知机构的结构模型,分别运用Kane方程和静力平衡方程推导了加速度、力解耦算法;然后,基于半闭环思想,构建了加速度误差补偿算法;最后,通过分析并联机构的静刚度矩阵,推导多维传感器灵敏度的定义式,揭示了结构参数对解耦精度和灵敏度的影响规律.实验结果显示,线加速度、角加速度、力及力矩的解耦误差分别小于8.824 2×10-4,4.291 4×10-6,0.446 1×10-6 和8.629 7×10-6,为感知机构的尺度综合提供理论指导.
Abstract
To address the issue of simultaneous feedback of acceleration and force information by sensing mechanism,a six-axis acceleration/force sensing mechanism based on the 3-RPR parallel mechanism is de-signed.The decoupling algorithm is derived,and the relationship between decoupling accuracy,sensitivity and structural parameters is analyzed.Firstly,the singular surface of the parallel mechanism is drawn by using the Angeles characteristic length method and Gosselin singularity analysis method,which provides theoretical guid-ance for its structural design.Secondly,the structural model of the sensing mechanism is designed,and the ac-celeration and force decoupling algorithms are derived by using Kane equation and the static equilibrium equation respectively.Based on the idea of"semi-closed loop",the acceleration error compensation algorithm is con-structed.The experimental results show that the decoupling errors for linear acceleration,angular acceleration,force and torque are less than 8.824 2×10-4,4.291 4×10-6,0.446 1×10-6 and 8.629 7×10-6,respectively.Finally,by analyzing the static stiffness matrix of the parallel mechanism and introducing the definition of multi-axis sensor sensitivity,the influence of structural parameters on decoupling accuracy and sensitivity is revealed,which provides theoretical guidance for the scale synthesis of the sensing mechanism.
关键词
加速度测量/力学测量/并联机构/奇异性/静刚度/灵敏度Key words
acceleration measurement/mechanical measurement/parallel mechanism/singularity/static stiff-ness/sensitivity引用本文复制引用
基金项目
国家自然科学基金资助项目(51405237)
国家留学基金资助项目(201908320035)
江苏省研究生科研与实践创新计划资助项目(KYCX22_1052)
江苏省大学生创新训练计划资助项目(202110298016Z)
出版年
2024
NETL
NSTL
万方数据