Dynamic performance analysis method for parallel connection mechanism

Abstract

The invention discloses a dynamic performance analysis method for a parallel connection mechanism, and belongs to the technical field of electromechanical integration. The method includes steps: firstly establishing a dynamical model of the parallel connection mechanism in a joint space, and calculating a maximum load inertia of a driving shaft; establishing a double-inertia control system of thedriving shaft of the parallel connection mechanism, and obtaining an angular velocity transmission relation and an angular position transmission relation; further selecting a proper total damping ratio for the double-inertia control system, and determining control parameters of a speed loop controller and a position loop controller; and finally calculating changes of a first damping ratio and a second damping ratio and changes of a first natural frequency and a second natural frequency of the double-inertia control system to explain the dynamic performance change of the parallel connection mechanism. According to the method, an effective tool is provided for analysis of the dynamic performance of the parallel connection mechanism which is a complicated electromechanical integration device.

Description

technical field [0001] The invention belongs to the technical field of electromechanical integration, and particularly relates to the problem of dynamic performance analysis of a parallel mechanism, a complex electromechanical integration equipment. Background technique [0002] Compared with the traditional series mechanism, the parallel mechanism theoretically has a higher stiffness-to-mass ratio and better acceleration capability, so the parallel mechanism has better dynamic performance potential. In the past two decades, a large number of industrial applications based on parallel mechanisms have emerged, especially some mechatronics equipment for high-speed application scenarios, such as parallel spindle heads, motion simulators, and picking robots. However, due to the complex multi-closed-loop structure characteristics of the parallel mechanism, its dynamic performance is also time-varying, which is difficult to guarantee in practical applications. Therefore, in order ...

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Problems solved by technology

However, for parallel mechanisms, due to the time-varying dynamic load characteristics, the load inertia of the joint space servo system will also have time-varying characteristics. During the motion process, the time-varying load inertia will have a greater impact on the performance of the closed-loop system. In turn, the dynamic performance of the parallel mechanism changes. Therefore, the traditional dynamic performance analysis method based on the servo motor model is no longer applicable to the parallel mechanism.

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