CN106891334B - The inertia force of non-decoupling mechanism causes end elastic deformation error penalty method - Google Patents
The inertia force of non-decoupling mechanism causes end elastic deformation error penalty method Download PDFInfo
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- CN106891334B CN106891334B CN201611268396.3A CN201611268396A CN106891334B CN 106891334 B CN106891334 B CN 106891334B CN 201611268396 A CN201611268396 A CN 201611268396A CN 106891334 B CN106891334 B CN 106891334B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/30—Compensating unbalance
Abstract
A kind of inertia force of non-decoupling mechanism causes end elastic deformation error penalty method comprising step: when a six degree of freedom serial mechanism is in non-decoupling state and forms a non-decoupling mechanism, determines the end pose and acceleration of the non-decoupling mechanism；Under a specified conditions, inertia force of each freedom degree under different conditions in the non-decoupling mechanism is obtained；According to the inertia force of the non-decoupling mechanism under the different conditions of each freedom degree, an end position and attitude error compensation database of the inertia force with each freedom degree of the end pose of the non-decoupling mechanism and the non-decoupling mechanism under different conditions is established；And during test, the end pose and acceleration and according to the end position and attitude error compensation database of the non-decoupling mechanism are obtained, the end pose of the non-decoupling mechanism is compensated.
Description
Technical field
The present invention relates to a kind of end elastic deformation error penalty methods of multiple-degree-of-freedom mechanism, more particularly, to a kind of non-solution
The inertia force of coupling mechanism causes end elastic deformation error penalty method.
Background technique
In certain equipment test systems, due to the difference of experimental subjects, multiple-degree-of-freedom mechanism (such as six degree of freedom machine
Structure) end needs replacing different experimental subjects, however in mechanism design, the rotation center of mechanism is only possible to and a kind of experiment
Object centers are overlapped.In such case (decoupling situation), the movement of each freedom degree of experimental subjects only needs corresponding mechanism to transport
It is dynamic to can be achieved with.When replacing experimental subjects, the rotation center that just will appear mechanism is not overlapped with the rotation center of experimental subjects
The case where.In such case (non-decoupling situation), the movement of certain single-degree-of-freedom of experimental subjects, it may be necessary to two or more
Athleticism is realized while freedom degree mechanism, and the inertia force that multiple degrees of freedom coupled motions generate, due to being related to multiple degrees of freedom
The permutation and combination of movement is more, calculate it is complicated, to the error that the movement of experimental subjects generates be difficult by simple decoupling control come
Real-time compensation, for mechanism end error in such cases, there is presently no preferable compensatory approaches, thus the present invention designs
It is a kind of for the error compensating method innovated in such cases, the inertia force for providing a kind of non-decoupling mechanism causes end elastic
Distortion inaccuracy penalty method, to solve the above problems.
Summary of the invention
The object of the present invention is to provide a kind of inertia force of reliable and succinct non-decoupling mechanism to cause end flexible deformation
Error compensation method.
The inertia force of the non-decoupling mechanism of the invention causes end elastic deformation error penalty method can be to six degree of freedom
When the end of serial mechanism is in non-decoupling state, mechanism elasticity caused by the inertia force generated by the six degree of freedom serial mechanism
The end error for deforming and eventually leading to the six degree of freedom serial mechanism compensates.The inertia of the non-decoupling mechanism of the invention
Power causes end elastic deformation error penalty method the technical solution adopted is that including the following steps:
S1, first under non-decoupling state, determine one mechanism status table of end pose；
S2, under given moving condition (such as mechanism end acceleration), determine one inertia force table of mechanism status；
S3, one end position and attitude error table of mechanism inertia force is determined according to the inertia force of each mechanism；
S4, the corresponding end position and attitude error of the pose of mechanism end is compensated into corresponding motor control amount, to realize
The error of end flexible deformation is caused to compensate the inertia force of the non-decoupling mechanism.
The present invention further provides a kind of inertia force of non-decoupling mechanism to cause end elastic deformation error penalty method, packet
Include following steps:
Step 1, it when a six degree of freedom serial mechanism is in non-decoupling state and forms a non-decoupling mechanism, determines
The end pose and acceleration of the non-decoupling mechanism；
Step 2, under a specified conditions, each freedom degree obtained in the non-decoupling mechanism is used under different conditions
Property power；
Step 3, it according to the inertia force of the non-decoupling mechanism under the different conditions of each freedom degree, establishes and the non-decoupling
One end pose of the inertia force of the end pose of mechanism and each freedom degree of the non-decoupling mechanism under different conditions misses
Poor compensation database；
Step 4, it during test, obtains the end pose of the non-decoupling mechanism and is mended according to the end position and attitude error
Database is repaid, the end pose of the non-decoupling mechanism is compensated.
Cause the further of end elastic deformation error penalty method as the inertia force to the non-decoupling mechanism of the invention
Preferred embodiment, in the step 2, which is the end acceleration of the non-decoupling mechanism, thus in step 2,
When the end acceleration of the non-decoupling mechanism determines, the used of the different conditions under each freedom degree of the non-decoupling mechanism is obtained
Property power.
Cause the further of end elastic deformation error penalty method as the inertia force to the non-decoupling mechanism of the invention
Preferred embodiment further comprises step in the step 4:
Step 4.1, during test, the end pose of the non-decoupling mechanism is obtained and according to the terminal position error
Compensation database obtains needing a compensation rate to the end pose of the non-decoupling mechanism；
Step 4.2, which is executed by the driving motor of each freedom degree of the non-decoupling mechanism, to the non-solution
The end pose of coupling mechanism compensates.
The inertia force of the non-decoupling mechanism of the invention causes the beneficial effect of end elastic deformation error penalty method to be:
1, the mode for constructing a kind of errors table of mechanism end pose carrys out compensation mechanism motional inertia bring end error,
Using the analytic method of complicated calculations when avoiding actual motion, easy to operate, exploitativeness is strong.
2, the inertia force of the non-decoupling mechanism of the invention causes end elastic deformation error penalty method can be by tabling look-up
Mode compensate, realtime control is strong, with the accuracy and reliability of guarantee test.
Detailed description of the invention
In order to obtain above and other advantage and feature of the invention, tool of the invention shown in hereinafter reference will be made to the drawings
Body embodiment carries out more specific description to the present invention outlined above.It should be understood that these attached drawings illustrate only the present invention
Exemplary embodiments, therefore be not construed as limiting the scope of the present invention, by using attached drawing, the present invention will be carried out more
Specific and more detailed description and elaboration.In the accompanying drawings:
Fig. 1 is the schematic diagram of six degree of freedom serial mechanism.
Fig. 2 is six degree of freedom serial mechanism positional displacement interpolation administrative division map.
Fig. 3 is that the inertia force of the non-decoupling mechanism causes the flow chart of end elastic deformation error penalty method.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
As depicted in figs. 1 and 2, the inertia force that spirit according to the present invention provides a kind of non-decoupling mechanism causes end
Elastic deformation error penalty method, with during test, when six degree of freedom serial mechanism shown in fig. 1 is in non-decoupling state
When the error that is generated because inertia force causes end flexible deformation compensate, with the accuracy and reliability of guarantee test.
Specifically, the inertia force of the non-decoupling mechanism of the invention causes end elastic deformation error penalty method to be mended
The process repaid are as follows:
Determine a mechanism status table of the six degree of freedom serial mechanism.Such as the six degree of freedom serial mechanism can be led
Enter into Adams software, by giving the end pose of the six degree of freedom serial mechanism, leads to the six degree of freedom serial mechanism
The position of each freedom degree.
There are numerous points in working space for the six degree of freedom serial mechanism, in the present invention by providing one by one wherein
Each point and to export the six degree of freedom serial mechanism highly difficult in the position of each freedom degree, therefore herein using control variable
Method, only to the end pose unitary variant of the six degree of freedom serial mechanism and specified determine position (certain two limit of freedom degree
Point and 100 Along ents), the position of the six degree of freedom serial mechanism is exported, and each interval, tool are filled by the method for linear interpolation
The six degree of freedom serial mechanism that body represents as follows is displaced in X, Y and Z single argument changeable mechanism:
The following table shows as Y=1, the X-axis of the six degree of freedom serial mechanism changes corresponding mechanism displacement:
The positional displacement interpolation administrative division map of the six degree of freedom serial mechanism as shown in Figure 2, in Fig. 2, using lateral arrangement
The lines six degree of freedom that lines and the lines radially arranged and the lines for making lateral arrangement and the lines radially arranged intersect
The position data of serial mechanism, the shadow region in the box of the upper left corner is the region for needing to carry out interpolation calculation, wherein interpolation meter
Calculation mode uses averaging method, it may be assumed that
Mechanism displacement:
k1=x ' |(0,1)-x′|(0,0)
k2=x ' |(1,0)-x′|(0,0)
The similar six degree of freedom serial mechanism total displacement:
k1=x ' |(0,1,0,0,0,0)-x′|(0,0,0,0,0,0) k2=x ' |(1,0,0,0,0,0)-x′|(0,0,0,0,0,0)
k3=x ' |(0,0,1,0,0,0)-x′|(0,0,0,0,0,0) k4=x ' |(0,0,0,1,0,0)-x′|(0,0,0,0,0,0)
k5=x ' |(0,0,0,0,1,0)-x′|(0,0,0,0,0,0) k6=x ' |(0,0,0,0,0,1)-x′|(0,0,0,0,0,0)
Similar obtains y ', z ', α ', β ', γ ', is aggregated into end pose-mechanism of six degree of freedom series connection serial mechanism
Position table, i.e. following table:
Similarly, each freedom degree acceleration of the corresponding mechanism of mechanism end pose acceleration is obtained according to using similar method
Table, i.e. following table:
Determine state-inertia force table of the six degree of freedom serial mechanism, it is first determined the six degree of freedom serial mechanism parameter
(quality, mass center, rotary inertia) is calculated according to the acceleration of each freedom degree operation of the six degree of freedom serial mechanism with glug
Bright day equation finds out corresponding inertia force suffered by the generalized force i.e. six degree of freedom serial mechanism and obtains mechanism status-inertia force
Table, i.e. following table:
Determine inertia force-end position and attitude error table of the six degree of freedom serial mechanism.It can be by the six degree of freedom cascade machine
Structure is imported according to state-inertia force table of the six degree of freedom serial mechanism of foundation in Ansys software, successively gives the six degree of freedom
Serial mechanism applies the inertia force of response, exports the deflection of the six degree of freedom serial mechanism end, determines the six degree of freedom
Serial mechanism inertia force-end position and attitude error table, i.e. following table:
In the six degree of freedom serial mechanism actual motion, each freedom degree of the real-time query six degree of freedom serial mechanism
Inertia force-end position and attitude error table is compensated to corresponding motor control amount, to compensate.
As shown in figure 3, the present invention further provides a kind of inertia force of non-decoupling mechanism to cause end elastic deformation error
Penalty method comprising following steps:
Step 1, it when a six degree of freedom serial mechanism is in non-decoupling state and forms a non-decoupling mechanism, determines
The end pose and acceleration of the non-decoupling mechanism；
Step 2, under a specified conditions, each freedom degree obtained in the non-decoupling mechanism is used under different conditions
Property power；
Step 3, it according to the inertia force of the non-decoupling mechanism under the different conditions of each freedom degree, establishes and the non-decoupling
One end pose of the inertia force of the end pose of mechanism and each freedom degree of the non-decoupling mechanism under different conditions misses
Poor compensation database；
Step 4, it during test, obtains the end pose of the non-decoupling mechanism and is mended according to the end position and attitude error
Database is repaid, the end pose of the non-decoupling mechanism is compensated.
Preferably, in the step 2, which is the end acceleration of the non-decoupling mechanism, thus in step 2
In, when the end acceleration of the non-decoupling mechanism determines, obtain the different conditions under each freedom degree of the non-decoupling mechanism
Inertia force.
Preferably, further comprise step in the step 4:
Step 4.1, during test, the end pose of the non-decoupling mechanism is obtained and according to the terminal position error
Compensation database obtains needing a compensation rate to the end pose of the non-decoupling mechanism；
Step 4.2, which is executed by the driving motor of each freedom degree of the non-decoupling mechanism, to the non-solution
The end pose of coupling mechanism compensates.
One embodiment of the present invention has been described in detail above, but the content is only preferable implementation of the invention
Example, should not be considered as limiting the scope of the invention.It is all according to all the changes and improvements made by the present patent application range
Deng should still be within the scope of the patent of the present invention.
Claims (2)
1. a kind of inertia force of non-decoupling mechanism causes end elastic deformation error penalty method, which is characterized in that the non-decoupling machine
The inertia force of structure causes end elastic deformation error penalty method to include the following steps:
Step 1, when a six degree of freedom serial mechanism is in non-decoupling state and forms a non-decoupling mechanism, determine that this is non-
The end pose and acceleration of decoupling mechanism；
Step 2, under a specified conditions, inertia of each freedom degree under different conditions in the non-decoupling mechanism is obtained
Power；The specified conditions are that the end acceleration of the non-decoupling mechanism is to determine value；
Step 3, it according to the inertia force of the non-decoupling mechanism under the different conditions of each freedom degree, establishes and the non-decoupling mechanism
End pose and the end position and attitude error of inertia force of each freedom degree under different conditions of the non-decoupling mechanism mend
Repay database；
Step 4, it during test, obtains the end pose of the non-decoupling mechanism and number is compensated according to the end position and attitude error
According to library, the end pose of the non-decoupling mechanism is compensated.
2. a kind of inertia force of non-decoupling mechanism as described in claim 1 causes end elastic deformation error penalty method, special
Sign is, further comprises step in the step 4:
Step 4.1, during test, the end pose of the non-decoupling mechanism is obtained and according to the terminal position error compensation
Database obtains needing a compensation rate to the end pose of the non-decoupling mechanism；
Step 4.2, which is executed by the driving motor of each freedom degree of the non-decoupling mechanism, to the non-decoupling machine
The end pose of structure compensates.
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