Research On Chain Unit Based Dynamic Modeling And Parameter Identification Of Parallel Manipulator

This dissertation carries out a systematic and in-depth research on the dynamicsand dynamics identification model of parallel manipulator without commonconstraints. The research result can be of great significance for servomotordetermination, improvement of the control accuracy, the computation efficiency andveracity of dynamic analysis. The following work has been accomplished. (1) A chain unit based dynamic modeling method for parallel manipulator isstudied. Considering the effects of inertial force, gravity, friction and other factors,the Newton-Euler approach and Lagrange multiplier have been used to derive themapping relationship between the driving force of active joints and the generalizedforce of end effector. The general form for dynamic model of chain unit is suggestedfor the first time, which can be applicable for many kinds of chain units. Based uponthe dynamic model of chain units, the dynamic model of parallel manipulator isestablished, and the compact form of inverse and forward dynamics model of parallelmanipulator are obtained. (2) The dynamic parameter identification model and external load identificationmodel of parallel manipulator are established. Firstly the base inertial parameters ofparallel manipulator are analyzed. After the derivation of dynamic parameteridentification model for chain units, the on-line and off-line dynamic identificationmodels of parallel manipulator are obtained. And the planification and performanceindex of an exciting trajectory for the dynamic identification process are presented.At the same time the identification methods and theoretical identification models ofstatic and dynamic external load are investigated. (3) Based on the analysis of the function requirement of dynamic analysisplatform for parallel manipulators, the functional framework is presented. AXML-based dynamic parameter model description rule of parallel manipulator issuggested, and the object models of dynamic analysis platform have been designed, - II -英文摘要which can be capable for dynamic analysis and design of parallel manipulator withoutcommon constraints. (4) A detailed research is performed on the kinematics and dynamics of fourrepresentative novel parallel manipulators: (3-PUS)-(1-PU), 3-PaPS, (1-PRR)-(1-P(RPR-RR)) and (1-PRR)-(1-PPa). The generic expression of dynamic model and thebase inertial parameters of several kinds of chains (includes simple chain type,composite chain type and hybrid chain type) and these parallel manipulators arederived. The theoretical model is validated by numerical analysis and virtualprototype simulation.