Hybrid force-position coordinated control of a parallel mechanism with the number of redundant actuators equal to its DOF

Ming Han, Wangwang Lian, Jianming Liu, Dong Yang, Tiejun Li
{"title":"Hybrid force-position coordinated control of a parallel mechanism with the number of redundant actuators equal to its DOF","authors":"Ming Han, Wangwang Lian, Jianming Liu, Dong Yang, Tiejun Li","doi":"10.1177/09544062241274704","DOIUrl":null,"url":null,"abstract":"To address the demands for precision and load-bearing capacity in the installation of building panels, a hybrid force-position driven robot with redundant actuation has been developed. The mechanical performance of this robot is primarily governed by its central parallel mechanism, which is equipped with redundant actuators matching the degrees of freedom. Non-redundant and redundant actuators are respectively responsible for position and force control. The inclusion of redundant force-driven joints has increased the internal coupling within the mechanism. To enhance the coordination between position and force control, a hybrid synchronized control method based on cross-coupling has been proposed. Initially, kinematic and dynamic models of the parallel structure were established. Under predefined trajectories, the theoretical inputs for each actuator were calculated using inverse kinematics and dynamics. Subsequently, employing the principle of cross-coupling, the torque output from the position actuators was used as feedback. This feedback was processed by a synchronized coordination controller to adjust the output force of the redundant force-driven joints. By adjusting the output force of the redundant actuators, the torque burden on the position actuators was effectively reduced, thereby enhancing the precision of position control. Additionally, under the same load conditions, smaller power actuators could be utilized for position control, reducing the overall weight of the robot and improving its load-to-weight ratio. To validate the effectiveness of the proposed control strategy, a robotic simulation environment was established. The simulation results demonstrated significant reductions in the average torque required by the position actuators across three different trajectories, with reductions of 91.43%, 54.56%, and 80.6% respectively. Finally, the load-bearing capacity and the load-to-weight ratio of the prototype were assessed. Experimental results confirmed that the prototype achieved a load-to-weight ratio of 15.83%, validating the effectiveness of the hybrid synchronized control method based on cross-coupling.","PeriodicalId":20558,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science","volume":"16 1","pages":""},"PeriodicalIF":1.8000,"publicationDate":"2024-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1177/09544062241274704","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 0

Abstract

To address the demands for precision and load-bearing capacity in the installation of building panels, a hybrid force-position driven robot with redundant actuation has been developed. The mechanical performance of this robot is primarily governed by its central parallel mechanism, which is equipped with redundant actuators matching the degrees of freedom. Non-redundant and redundant actuators are respectively responsible for position and force control. The inclusion of redundant force-driven joints has increased the internal coupling within the mechanism. To enhance the coordination between position and force control, a hybrid synchronized control method based on cross-coupling has been proposed. Initially, kinematic and dynamic models of the parallel structure were established. Under predefined trajectories, the theoretical inputs for each actuator were calculated using inverse kinematics and dynamics. Subsequently, employing the principle of cross-coupling, the torque output from the position actuators was used as feedback. This feedback was processed by a synchronized coordination controller to adjust the output force of the redundant force-driven joints. By adjusting the output force of the redundant actuators, the torque burden on the position actuators was effectively reduced, thereby enhancing the precision of position control. Additionally, under the same load conditions, smaller power actuators could be utilized for position control, reducing the overall weight of the robot and improving its load-to-weight ratio. To validate the effectiveness of the proposed control strategy, a robotic simulation environment was established. The simulation results demonstrated significant reductions in the average torque required by the position actuators across three different trajectories, with reductions of 91.43%, 54.56%, and 80.6% respectively. Finally, the load-bearing capacity and the load-to-weight ratio of the prototype were assessed. Experimental results confirmed that the prototype achieved a load-to-weight ratio of 15.83%, validating the effectiveness of the hybrid synchronized control method based on cross-coupling.
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
冗余致动器数量等于其 DOF 的并联机构的混合力-位置协调控制
为了满足建筑板材安装对精度和承重能力的要求,我们开发了一种带有冗余执行器的力-位置混合驱动机器人。该机器人的机械性能主要由其中央并联机构控制,该机构配备了与自由度相匹配的冗余致动器。非冗余和冗余致动器分别负责位置和力控制。冗余力驱动关节的加入增加了机构内部的耦合。为了加强位置控制和力控制之间的协调,提出了一种基于交叉耦合的混合同步控制方法。首先,建立了平行结构的运动学和动力学模型。在预定轨迹下,利用逆运动学和动力学计算每个致动器的理论输入。随后,利用交叉耦合原理,将位置执行器输出的扭矩作为反馈。同步协调控制器对该反馈进行处理,以调整冗余力驱动关节的输出力。通过调整冗余执行器的输出力,有效减轻了位置执行器的扭矩负担,从而提高了位置控制的精度。此外,在相同负载条件下,位置控制可以使用较小功率的致动器,从而减轻机器人的整体重量,提高负载重量比。为了验证所提控制策略的有效性,我们建立了一个机器人仿真环境。仿真结果表明,位置执行器在三个不同轨迹上所需的平均扭矩大幅降低,分别降低了 91.43%、54.56% 和 80.6%。最后,对原型的承载能力和负载重量比进行了评估。实验结果证实,原型机的负载重量比达到了 15.83%,验证了基于交叉耦合的混合同步控制方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 去求助
来源期刊
CiteScore
3.80
自引率
10.00%
发文量
625
审稿时长
4.3 months
期刊介绍: The Journal of Mechanical Engineering Science advances the understanding of both the fundamentals of engineering science and its application to the solution of challenges and problems in engineering.
期刊最新文献
Research and analysis of rock breaking mechanical model of single-roller PDC compound bit Hybrid force-position coordinated control of a parallel mechanism with the number of redundant actuators equal to its DOF Rapid motion planning of manipulator in three-dimensional space under multiple scenes Oil and gas pipeline robot localization techniques: A review Anisogrid lattice structure in thermoplastic composite by filament gun deposition
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1