CN115096496A - Method for performing spatial six-dimensional force decoupling measurement by adopting cable drive mechanism - Google Patents
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Abstract
The invention discloses a method for performing spatial six-dimensional force decoupling measurement by adopting a cable drive mechanism, belongs to the technical cross field of cable drive mechanisms and force measurement, and relates to a method for performing spatial six-dimensional force decoupling measurement by adopting a cable drive parallel mechanism. According to the method, eight symmetrically distributed cable-driven parallel mechanisms are used for decoupling measurement of spatial six-dimensional force, a steel wire rope assembly is suspended inside the cable-driven spatial six-dimensional force measurement mechanism, and a cable and a driving device are used for replacing a rigid rod to transmit motion and force to a dynamic simulation platform in the parallel mechanisms. And establishing a mapping relation between the spatial six-dimensional force and each cable force through a mechanism kinematics model and a statics balance condition. And (3) decoupling and measuring the spatial six-dimensional force by adopting a statics decoupling method. The method has the advantages of convenient decoupling of the spatial six-dimensional force, high accuracy and repeatability, high continuity and effectiveness, and is more favorable for measuring the thrust of the engine and the like.
Description
Technical Field
The invention belongs to the field of crossing cable drive mechanisms and force measurement technologies, and relates to a method for performing spatial six-dimensional force decoupling measurement by adopting a cable drive parallel mechanism.
Background
In tests of aero-engines, rocket propulsion or satellite thrust vectors and the like, loading, testing and calibration of thrust in different directions are often required to be carried out on a ground test bed, test data are obtained through a large number of test tests, and the performance of the engines is verified and accurately evaluated so as to ensure safe operation of airplanes, rockets or satellites. At present, when multi-degree-of-freedom coupled space six-dimensional force measurement is carried out in an aeroengine, a rigid structure is generally adopted, a plurality of force sensors are arranged on different positions of a force measurement rack in all directions and used for measuring all component values of space six-dimensional force, and then six-component force measurement values are synthesized into a measured six-dimensional force value for carrying out the measurement. The measuring method is influenced by various factors such as structural characteristics of the force measuring bench, interaction of various component forces and the like, the six-dimensional force measuring system needs to be corrected for many times, and the direction and the position of the measurable spatial six-dimensional force are limited, so that the accuracy, the efficiency and the real-time performance of the spatial six-dimensional force measurement are influenced to a certain extent.
The invention discloses a six-dimensional force measuring platform and a decoupling method thereof, wherein the six-dimensional force measuring platform is CN114136524A, the inventor is Zhao Yong and the like, the measuring platform is processed into a whole by adopting an integrated manufacturing technology, the structure is compact, six-dimensional force measuring results are obtained by linearly adding and subtracting output signals of four internal three-dimensional force sensors, the decoupling method is simple, and the measuring precision is high. However, the rigid mechanism still needs to be assembled and disassembled for many times when measuring the space six-dimensional force with variable directions and action points in different application occasions, and the adjustment of the installation pose in a measurement range of a certain working space is difficult.
The cable-driven parallel robot, also called a cable-driven parallel mechanism, is a combination of a cable-driven mechanism and a parallel robot, can transmit motion and force to a movable platform in the parallel mechanism by using a cable and a driving device instead of a rigid rod, has the advantages of good motion performance, higher load capacity, simple structure, small inertia, larger working space and the like, and the rigidity of a mechanism system can be changed by adjusting the cable force and the cable length on the cable. By combining the unique advantages of the cable, the mapping relation between the spatial six-dimensional force and each cable force can be established by researching the static balance condition of the mechanism. And the dynamic platform of the spatial six-dimensional force bearing end mechanism can also move to an ideal measured attitude state by researching a dynamic model of the mechanism. Due to the simple structure, the assembly and disassembly before and after the measurement test are also convenient. Therefore, the six-dimensional force in a certain adjustable range can be accurately and efficiently measured by utilizing various advantages of the cable-driven parallel mechanism, and the limitations of the existing measuring mechanism and method can be improved.
Disclosure of Invention
The invention aims to solve the problems of complex force measuring structure, limited working space and difficult decoupling of six-component force in the existing spatial six-dimensional force measurement, and provides a method for performing spatial six-dimensional force decoupling measurement by adopting a cable drive mechanism. By researching the dynamic relationship of the mechanism, the pose adjustment of the measuring assembly in a reasonable working space can be realized, so that the spatial six-dimensional forces in different directions and different action points can be measured. The pose of the measured space six-dimensional force action point is controllable, the working space is large, the decoupling of the space six-dimensional force by the adopted statics decoupling method is convenient, the accuracy and the repeatability are high, the operation is simple and easy, the measurement is accurate, and the measurement of the thrust of the engine is facilitated.
The technical scheme adopted by the invention is a method for performing spatial six-dimensional force decoupling measurement by adopting a cable driving mechanism, and is characterized in that the method performs decoupling measurement by using a spatial six-dimensional force measuring device by using eight symmetrically distributed cable driving mechanisms, a steel wire rope is suspended in the cable driving spatial six-dimensional force measuring device, a rope and a driving device are used for replacing a rigid rod to transmit motion and force to a movable platform in a parallel mechanism, and a mapping relation between the spatial six-dimensional force and each cable force is established to establish a dynamic model by using the static balance condition of the mechanism; decoupling measurement is carried out on the spatial six-dimensional force by adopting a statics decoupling method; the measuring method comprises the following specific steps:
step one, respectively adjusting the relative positions of the steel wire ropes and the guide pulleys in eight rope drives;
each guide pulley 5 is installed and adjusted along the guide of the connecting line of each vertex of the overall frame of the device and each vertex of the adjacent movable simulation platform 1, so that the deviation change of the contact point position of the steel wire rope 4 and the inner surface of the guide pulley 5 is reduced as much as possible;
step two, connecting a servo control system with a servo motor;
on the installed space six-dimensional force measuring device, a servo control system is connected with a servo motor 6 in the eight-cable driving space six-dimensional force measuring device to carry out driving control, and all the cables are in a positive tension pre-tightening state;
establishing a fixed coordinate system and a moving coordinate system, and deriving the relation between the length vector of the rope in the mechanism and the pose of the moving simulation platform 1;
the fixed coordinate system of the cable-driven spatial six-dimensional force measuring mechanism is O-xyz, abbreviated as ' O ', and the motion coordinate system is O ' -x ' y ' z ', abbreviated as ' O i Represents from B i To A i Rope vector of a i Is represented by A i Position vector at O, b i Is shown as B i And a position vector under O ', p represents the position vector of O ' under O, and R represents a rotation matrix of O ' relative to the rope, so that the relation between the rope length vector and the pose of the dynamic simulation platform 1 is as follows:
l i ＝a i -p-R·b i (1)
the unit rope vector is:
u i ＝l i /||l i || (2)
step four, establishing a kinematic velocity and acceleration equation;
and (3) deriving the rope length relational expression according to time variables, wherein the kinematic velocity equation of the rope drive loading mechanism is as follows:
in the formula (3), the first and second groups,
a velocity vector representing the change in length of the respective rope,
J T a matrix of the velocity-Jacobian is represented,
and continuously deriving the time variable, and then the kinematic acceleration equation of the cable drive loading mechanism is as follows:
in the formula (4), the first and second groups,
an acceleration vector representing the change in length of each rope,
step five, modeling kinematics and analyzing statics, and establishing a statics equilibrium equation of the mechanism;
in a certain working space range, a statics equilibrium equation of the mechanism is obtained through kinematic modeling and statics analysis, so that a mapping relation between the combined external force and the combined external moment and the measured values of the eight groups of S-shaped tension sensors 3 is established, and a calculation method of the measured space six-dimensional force is obtained;
when the cable drive mechanism is used for measuring the spatial six-dimensional force, static loading measurement is adopted; six-dimensional force transmission on directional simulation platform 1The center of the sensor 11 applies a set six-dimensional force of an outer space, and the value t of eight groups of S-shaped tension sensors 3 is recorded i ，t i Representing the magnitude of the ith rope tension;
the resultant force and resultant moment received by the dynamic simulation platform 1 are F:
F＝W+G (5)
wherein, W represents the resultant force and resultant moment applied to the dynamic simulation platform 1 from the outside, namely the measured space six-dimensional force, and G represents the force and moment generated by the gravity on the dynamic simulation platform 1;
the statics balance equation of the cable drive measuring mechanism is as follows:
JT+F＝0 (6)
in equation (6), J represents the structural force jacobian matrix:
and T represents the tension of each rope constituting a column vector, T ═ T 1 t 2 … t 8 ] T 。
The resultant force and resultant moment W externally applied to the dynamic simulation platform 1 can be obtained by utilizing a static equilibrium equation, namely the measured spatial six-dimensional force:
W＝-JT-G (8)
and step six, analyzing factors which may influence the accuracy of the spatial six-dimensional force measurement.
Because the span of the steel wire rope 4 is smaller, compared with the dynamic simulation platform 1, the steel wire rope 4 has lighter weight and is always in a tensioned state, the influence of a catenary caused by the self weight of the steel wire rope 4 does not need to be considered;
the actual steel wire rope 4 in the rope-driven parallel mechanism can generate certain elastic deformation along the axial direction after being stressed, and the deformation amount is as follows:
Δl i ＝[(t i -t 0 )/S]/(Y/l i ) (9)
wherein, t i Representing the real-time optimum value of the i-th rope tension, t 0 Representing the initial pre-tightening force of the corresponding rope, S being the cross-sectional area of the rope, Y being the elasticity of the ropeModulus, amount of deformation Δ l i The method includes the steps of solving the positive solving pose of the dynamic simulation platform 1, comparing the positive solving pose with the ideal pose of the dynamic simulation platform 1 under the condition that the steel wire rope is supposed not to generate elastic deformation, and considering whether to carry out the positive solving pose or not according to the obtained error magnitude
The invention has the beneficial effects that: the decoupling measurement method utilizes a spatial six-dimensional force measurement device, the device adopts a symmetrically distributed eight-cable driving parallel mechanism, a cable and a driving device are utilized to replace a rigid rod to transmit motion and force to a dynamic simulation platform in the parallel mechanism, and the rigidity of a mechanism system can be changed by adjusting the cable force and the cable length on the cable. The device has good motion performance and high load capacity, and can realize real-time continuous measurement of spatial six-dimensional force. The pose of the six-dimensional force action point in the measured space is controllable, and the working space is larger. The device can realize that the position and the angle of the measuring component during measurement are adjusted by controlling the motion of the dynamic simulation platform through rope driving in a controllable working space so as to adapt to changeable measuring test environments. The statics decoupling method of the measured space six-dimensional force in the eight-cable driving parallel mechanism is provided, the method is convenient to decouple the space six-dimensional force, high in accuracy and repeatability and more beneficial to measuring or calibrating the thrust of an engine and the like.
Drawings
FIG. 1 is an isometric view of a three-dimensional structure of an eight-cable drive space six-dimensional force measuring device. Wherein:
the method comprises the following steps of 1-a dynamic simulation platform, 2-a square hollow steel frame, 3-S-shaped tension sensors, 4-steel wire ropes, 5-guide pulleys, 6-servo motors, 7-lead screws, 8-lead screw nut sliders, 9-servo driving modules, 10-lifting bolts, 11-six-dimensional force sensors, 12-servo driving module bases and 13-a cross hollow steel frame.
FIG. 2 is a schematic diagram of various mechanism parameters of the eight-cable drive space six-dimensional force measurement simplified device. Wherein: o-xyz is a fixed coordinate system of the eight-cable drive space six-dimensional force measuring device and is expressed by O simplification; o ' -x ' y ' z ' is a moving coordinate system and is expressed by O ' in a simplified mode. A. the i Is the rope outlet point of the steel wire rope at the guide pulley, B i Is a connecting point of the steel wire rope and the dynamic simulation platform,wherein i is 1,2, …,8, a i Is represented by A i A position vector in O; b i Is represented by B i A position vector in O'; p represents the position vector of O' in O; l i Represented in O from B i To A i The rope vector of (a); u. of i The unit rope vector in O; t is t i Represents the rope tension in O; w represents the resultant force and resultant moment which are externally applied to the six-dimensional force sensor or the force bearing part arranged on the flange surface of the dynamic simulation platform in O, namely the measured space six-dimensional force.
FIG. 3 is a flow chart of a spatial six-dimensional force decoupling measurement method.
Detailed Description
The following detailed description of the embodiments of the invention is provided in connection with the accompanying drawings and the appended claims.
The invention relates to a decoupling measurement method for measuring spatial six-dimensional force, which adopts a symmetrically distributed eight-cable drive parallel mechanism device, and a three-dimensional structure axonometric view of the measurement device is shown in figure 1. When the mechanism is specifically designed, the whole dimension can be adjusted according to factors such as the size and the direction of a measured object in different application occasions, so that the measurement accuracy and the effectiveness are improved.
The decoupling measurement method is that a steel wire rope component in the device is suspended inside an eight-cable driving space six-dimensional force measurement mechanism, a rope and a driving device are used for replacing a rigid rod to transmit motion and force to a movable platform in a parallel mechanism, and a mapping relation between space six-dimensional force and each cable force is established to establish a dynamic model through a static balance condition of the mechanism; decoupling measurement is carried out on the spatial six-dimensional force by adopting a statics decoupling method. The quick and convenient decoupling of the measured spatial six-dimensional force is realized by the decoupling method of the spatial six-dimensional force W in the device in the technical scheme; the rigidity of the mechanism is large, the system is stable, and the range of the measurable spatial six-dimensional force value is large; the pose of the measuring assembly in a large controllable working space can be regulated and controlled. The invention is static loading, the friction force between the steel wire rope 4 and the inner surface of the guide pulley 5 has little influence on the whole result; the influence of the elastic deformation of the steel wire rope 4 on the tension measurement is given by a formula (9) and is used for correcting the influence of the elastic deformation of the steel wire rope 4 on the pretightening force and the change of the tension when the spatial six-dimensional force is measured by using the mechanism; due to the small span of the rope, the weight is light compared with the measuring assembly, and the rope is always in a tensioning state, so that the influence of a catenary, which may be caused by the self weight of the rope, does not need to be considered.
Fig. 3 is a flowchart of the measurement method of the embodiment, and the spatial six-dimensional force decoupling measurement method includes the following specific steps:
firstly, the relative position relationship between the steel wire rope 4 and each guide pulley 5 in eight rope drives is respectively adjusted, so that the symmetry of the eight-rope drive space six-dimensional force measuring device is fully utilized;
after the eight-cable drive space six-dimensional force measuring device is installed, connecting a servo control system with each servo motor 6, performing drive control, enabling all the ropes to be in a positive tension pre-tightening state, enabling the pre-tightening force to be relatively large according to the magnitude of a measured space six-dimensional force estimated value, adjusting the measuring assembly to a pose adaptive to a test environment, enabling the measuring assembly to be stationary, and meanwhile keeping all the ropes in the positive tension pre-tightening state;
establishing a fixed coordinate system O-xyz which is simplified to be O, a motion coordinate system O ' -x ' y ' z ' which is simplified to be O '. referring to FIG. 2, and performing kinematic modeling to obtain a relation between a rope length vector in the mechanism and the pose of the dynamic simulation platform 1 as a formula (1);
and fourthly, establishing a kinematic velocity and acceleration equation. The speed and acceleration equations are respectively in formulas (3) and (4), and the mapping relation between the variation of the length of the rope along with time and the variation of the pose of the dynamic simulation platform 1 along with time is obtained;
fifthly, obtaining a static equilibrium equation of the mechanism through kinematic modeling and static analysis in a certain working space range, and further establishing a mapping relation between the combined external force and the combined external moment F borne by the starting simulation platform 1 and the measured values T of the eight groups of S-shaped tension sensors 3; the Jacobian matrix of the structural force obtained by the calculation of the formulas (5) and (6) is a formula (7);
analyzing factors which may influence the accuracy of the spatial six-dimensional force measurement, wherein the factors comprise axial elastic deformation of different degrees caused by the tension change of the rope when the rope is subjected to pretightening force and the spatial six-dimensional force is measured, and the deformation is obtained by a formula (9); other factors that have little influence on the spatial six-dimensional force measurement, such as the rope catenary, the friction between the rope and the inner surface of the guide pulley 5, etc., can be neglected.
Seventhly, applying set external input space six-dimensional force to the center of the six-dimensional force sensor 11 on the dynamic simulation platform 1, and recording the value t of the eight groups of S-shaped tension sensors 3 i By t i The magnitude of the tension of the ith rope is expressed and formed into a column vector T ═ T 1 t 2 … t 8 ] T If the static equilibrium equation of the cable drive measuring mechanism is the formula (6); therefore, the accurate values of the resultant force and the resultant moment F borne by the dynamic simulation platform 1 can be obtained, the resultant force and the resultant moment W externally applied to the dynamic simulation platform 1 can be obtained after the influence of the gravity G factor on the force and the moment of the dynamic simulation platform 1 is removed, the resultant force and the resultant moment W are obtained by a formula (8), and the resultant force and the resultant moment W can be compared with the value measured by the six-dimensional force sensor 11, so that the accurate measurement and the quick decoupling of the six-dimensional force in the measured space are realized.
The decoupling method reasonably utilizes the advantages of good movement performance, higher load capacity, simple structure, small inertia, larger working space and the like of the redundant cable drive parallel mechanism, gives a mapping relation between a combined external force and a combined external moment, namely a space six-dimensional force and each cable force, and obtains the decoupling method of the measured space six-dimensional force in the device. The decoupling method for the spatial six-dimensional force is simple and convenient, has high accuracy and repeatability and good continuity and effectiveness, and is very favorable for measuring and calibrating the spatial six-dimensional force in different test environments such as engine thrust and the like.
Claims (1)
1. A method for decoupling and measuring spatial six-dimensional force by adopting a cable driving mechanism is characterized in that the method utilizes eight symmetrically distributed cable driving mechanisms to decouple and measure the spatial six-dimensional force, a steel wire rope assembly is suspended in the cable driving spatial six-dimensional force measuring mechanism, a rope and a driving device are utilized to replace a rigid rod to transmit motion and force to a movable platform in a parallel mechanism, and a mapping relation between the spatial six-dimensional force and each cable force is established through a mechanism kinematic model and a static balance condition; decoupling measurement is carried out on the spatial six-dimensional force by adopting a statics decoupling method; the measuring method comprises the following specific steps:
step one, respectively adjusting the relative positions of the steel wire ropes and the guide pulleys in eight rope drives;
each guide pulley (5) is installed and adjusted along the guide of the connecting line of each vertex of the overall frame of the device and each vertex of the adjacent dynamic simulation platform (1), so that the offset change of the contact point position of the steel wire rope (4) and the inner surface of the guide pulley (5) is reduced as much as possible; because the static loading is adopted, the friction force between the steel wire rope (4) and the inner surface of the guide pulley (5) has little influence on the whole result and can be ignored;
step two, connecting the servo control system with a servo motor;
on the installed space six-dimensional force measuring device, a servo control system is connected with a servo motor (6) in the eight-rope driving space six-dimensional force measuring device to carry out driving control, and all ropes are in a positive tension pre-tightening state;
establishing a fixed coordinate system and a moving coordinate system to obtain the position relation between the length vector of the rope in the mechanism and the position of the moving simulation platform (1);
the fixed coordinate system of the cable-driven spatial six-dimensional force measuring mechanism is O-xyz, abbreviated as ' O ', and the motion coordinate system is O ' -x ' y ' z ', abbreviated as ' O i Represents from B i To A i Rope vector of a i Is represented by A i Position vector at O, b i Is represented by B i The position vector under O ', p represents the position vector under O ', R represents a rotation matrix of O ' relative to the rope, and the relation between the rope length vector and the pose of the dynamic simulation platform (1) is as follows:
l i ＝a i -p-R·b i (1)
the unit rope vector is:
u i ＝l i /||l i || (2)
step four, establishing a kinematic velocity and acceleration equation;
and (3) deriving the rope length relational expression according to time variables, wherein the kinematic velocity equation of the rope drive loading mechanism is as follows:
in the formula (3), the first and second groups,
a velocity vector representing the change in length of the respective rope,
J T the velocity-Jacobian matrix is represented,
and continuously deriving the time variable, and then the kinematic acceleration equation of the cable drive loading mechanism is as follows:
in the formula (4), the first and second groups of the chemical reaction are shown in the specification,
an acceleration vector representing the change in length of each rope,
step five, modeling kinematics and analyzing statics, and establishing a statics equilibrium equation of the mechanism;
in a certain working space range, a statics equilibrium equation of the mechanism is obtained through kinematic modeling and statics analysis, and therefore a mapping relation between the combined external force and the combined external moment and the measured values of the eight groups of S-shaped tension sensors (3) is established; obtaining a calculation method of the measured space six-dimensional force;
when the cable drive mechanism is used for measuring the spatial six-dimensional force, static loading measurement is adopted; applying a set external space six-dimensional force to the center of a six-dimensional force sensor (11) on the dynamic simulation platform (1), and recording values t of eight groups of S-shaped tension sensors (3) i ，t i Representing the magnitude of the ith rope tension;
the resultant force and resultant moment received by the dynamic simulation platform (1) are F:
F＝W+G (5)
wherein, W represents the resultant force and resultant moment applied to the dynamic simulation platform (1) from the outside, namely the measured space six-dimensional force, and G represents the force and moment generated by the gravity on the dynamic simulation platform (1);
the statics balance equation of the cable drive measuring mechanism is as follows:
JT+F＝0 (6)
in equation (6), J represents the structural force jacobian matrix:
and T represents the line vector of the tension of each rope, T ═ T 1 t 2 … t 8 ] T ；
The resultant force and resultant moment W applied to the dynamic simulation platform (1) from the outside can be obtained by utilizing a static equilibrium equation, namely the measured space six-dimensional force:
W＝-JT-G (8)
analyzing factors which may influence the accuracy of the spatial six-dimensional force measurement;
because the span of the steel wire rope (4) is smaller, compared with the dynamic simulation platform (1), the steel wire rope has lighter weight and is always in a tensioned state, the influence of a catenary caused by the self weight of the steel wire rope (4) does not need to be considered;
the actual steel wire rope (4) in the rope-driven parallel mechanism can generate certain elastic deformation along the axial direction after being stressed, and the deformation is as follows:
Δl i ＝[(t i -t 0 )/S]/(Y/l i ) (9)
wherein, t i Represents the real-time optimized value of the i-th rope tension, t 0 Representing the initial pre-tightening force of the corresponding rope, S is the cross-sectional area of the rope, Y is the elastic modulus of the rope, and the deformation amount delta l i And (4) carrying out the step three, solving the positive solution pose of the dynamic simulation platform (1), comparing the positive solution pose with the ideal pose of the dynamic simulation platform (1) under the condition that the steel wire rope is not subjected to elastic deformation, and considering whether to correct the positive solution pose according to the obtained error magnitude.
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