空间冗余索驱动并联机构的耦合振动特性研究

PDF(2826 KB)

振动与冲击 ›› 2023, Vol. 42 ›› Issue (5) : 295-304.

论文

于金山1，陶建国1，王国星2，李潇3，王浩威3

作者信息 +

Coupled vibration characteristics of spatial redundant cable-driven parallel mechanism

YU Jinshan1, TAO Jianguo1, WANG Guoxing2, LI Xiao3, WANG Haowei3

Author information +

文章历史 +

摘要

针对大型空间结构的在轨装配任务，提出了索驱动并联机构的方案，对其振动特性进行了研究。首先基于微分变换推导了机构的刚度矩阵，在此基础上建立了索并联机构的振动方程。其次，通过理论计算分别分析了运动平台的位姿以及绳索拉力水平对机构振动特性的影响，并通过仿真研究了不同工况下机构的振动规律。最后，搭建了空间冗余索并联机构的缩比样机并开展了机构的振动特性实验，进一步验证了振动模型的正确性以及仿真结果的有效性。结果表明，运动平台在中心位置处时各阶模态是解耦的，不同方向的振动相互独立；在边缘位置处，各阶模态具有强耦合性，单方向的干扰力会引起多个方向的振动，且振动频率以一、二阶固有频率为主。研究结果对于索并联机构的振动控制具有指导意义。

Abstract

Aiming at the on-orbit assembly task of large space structures, a scheme of cable-driven parallel mechanism(CDPM) is proposed, and its vibration characteristics are studied. Firstly, the stiffness matrix of the mechanism is deduced based on differential transformation. The vibration equation is established on this basis, and the analytical expressions of each order mode are obtained. Secondly, the influence of the pose of the moving platform and the level of cable tension on the vibration characteristics of the mechanism is analyzed through theoretical calculation, and the vibration law of the mechanism under different working conditions is studied through simulation. Finally, a scaled prototype of the CDPM is built and the vibration characteristics experiment of the mechanism is carried out, which further verifies the correctness of the vibration model and the validity of the simulation results. The results show that when the moving platform is at the center position, the modes of each order are decoupled, and the vibrations in different directions do not affect each other. At the edge position, the modes of each order have strong coupling, and the disturbance force in one direction will cause vibration in multiple directions. The vibration frequency is mainly the first and second order natural frequencies. The research results have guiding significance for the vibration control of CDPM.

导出引用

于金山1，陶建国1，王国星2，李潇3，王浩威3. 空间冗余索驱动并联机构的耦合振动特性研究[J]. 振动与冲击, 2023, 42(5): 295-304

YU Jinshan1, TAO Jianguo1, WANG Guoxing2, LI Xiao3, WANG Haowei3. Coupled vibration characteristics of spatial redundant cable-driven parallel mechanism[J]. Journal of Vibration and Shock, 2023, 42(5): 295-304

参考文献

[1] 沈晓凤, 曾令斌,靳永强,等.在轨组装技术研究现状与发展趋势[J].载人航天, 2017, 23(02): 228-235.
SHEN Xiao-feng, ZENG Ling-bin, JIN Yong-qiang, et al. Status and prospect of on-orbit assembly technology[J]. Manned Spaceflight, 2017, 23(02): 228-235.
[2] 闫海江, 靳永强, 魏祥泉, 等. 国际空间站在轨服务技术验证发展分析[J]. 中国科学:技术科学, 2018, 48(02):185-199.
YAN Hai-jiang, JIN Yong-qiang, WEI Xiang-quan, et al. Analysis of on-orbit servicing technique demonstrations on international space station and developments[J]. Scientia Sinica(Technologica)，2018, 48(2): 185-199.
[3] 刘宏, 蒋再男, 刘业超. 空间机械臂技术发展综述[J]. 载人航天, 2015,21(05):435-443.
LIU Hong, JIANG Zai-nan, LIY Ye-chao. Review of space manipulator technology[J]. Manned Spaceflight, 2015, 21(5): 435-443.
[4] 孟中杰,黄攀峰,鲁迎波,等.在轨服务中空间系绳的应用及发展[J].宇航学报, 2019, 40(10): 1134-1145.
MENG Zhong-jie, HUANG Pan-feng, LU Ying-bo, et al. Applications and development of space tether in on-orbit servicing[J]. Journal of Astronautics, 2019, 40(10): 1134-1145.
[5] 张龙. 空间圈套式绳索捕获动力学建模及接触碰撞分析[J].振动与冲击, 2019, 38(10): 71-78.
ZHANG Long. Dynamics modelling and contact-impact analysis during space snare capture[J]. Journal of Vibration and Shock, 2019, 38(10): 71-78.
[6] J Eden, D Lau, Y Tan, et al. Available acceleration set for the study of motion capabilities for cable-driven robots. Mechanism and Machine Theory, 2016, 105: 320-336.
[7] Diao X , Ou M . Vibration analysis of cable-driven parallel manipulators[J]. Multibody System Dynamics, 2009, 21(4):347-360.
[8] Du J, Ding W, Bao H. Cable vibration analysis for large workspace cable-driven parallel manipulators[M]//Cable-Driven Parallel Robots. Springer, Berlin, Heidelberg, 2013: 437-449.
[9] Weber X, Cuvillon L, Gangloff J. Active vibration canceling of a cable-driven parallel robot using reaction wheels[C]//2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2014: 1724-1729.
[10] Jamshidifar H, Fidan B, Gungor G, et al. Adaptive vibration control of a flexible cable driven parallel robot[J]. IFAC-PapersOnLine, 2015, 48(3): 1302-1307.
[11] Schmidt V, Kraus W, Pott A. Presentation of experimental results on stability of a 3 DOF 4-cable-driven parallel robot without constraints[M]//Cable-Driven Parallel Robots. Springer, Cham, 2015: 87-99.
[12] Heo J M , Park B J , Park J O , et al. Workspace and stability analysis of a 6-DOF cable-driven parallel robot using frequency-based variable constraints[J]. Journal of Mechanical Science and Technology, 2018, 32(3):1345-1356.
[13] 刘志华,唐晓强,邵珠峰,等.6自由度索并联机构的振动特性[J].机械工程学报, 2013, 49(03): 49-55.
LIU Zhi-hua, TANG Xiao-qiang, SHAO Zhu-feng, et al. Vibration characteristic of 6-DOF cable-driven parallel manipulator[J]. Journal of Mechanical Engineering, 2013, 49(03): 49-55.
[14] 彭苗娇,王晓光,林麒.风洞试验WDPR支撑牵引绳与模型耦合振动研究[J].振动工程学报, 2017, 30(01): 140-148
PENG Miao-jiao, WANG Xiao-guang, LIN Qi. Coupled vibration between wires and aircraft model of WDPR in wind tunnel test[J]. Journal of Vibration Engineering, 2017, 30(01): 140-148
[15] 吴太欢,林麒,何升杰,等.全模颤振双索悬挂系统刚体模态频率研究[J].航空学报, 2020, 41(09): 72-84.
WU Tai-huan, LIN Qi, HE Sheng-jie, et al. Rigid body modal frequencies of two cables suspension system for full-mode flutter[J]. Acta Aeronautica et Astronautica Sinica, 2020, 41(09): 72-84.
[16] VERHOEVEN R, HILLER M. Estimating the Controllable Workspace of Tendon-based Stewart Platforms[M]. Dordrecht: Springer Netherlands, 2000: 277-284.
[17]于金山, 李潇, 陶建国,等. 面向在轨装配的八索并联机构构型设计与工作空间分析[J].机械工程学报, 2021, 57(21):1-10.
YU Jin-shan, LI Xiao, TAO Jian-guo, et al. Configuration design and workspace analysis of parallel mechanism driven by eight cables for on-orbit assembly[J]. Journal of Mechanical Engineering, 2021, 57(21):1-10.
[18] 李清桓,段清娟,李帆,等.绳牵引机器人加入弹簧后刚度分析[J].振动与冲击, 2017, 36(10): 197-202.
LI Qing-huan, DUAN Qing-juan, LI Fan, et al. Stiffness analysis of a cable-driven parallel robot by adding springs[J]. Journal of Vibration and Shock, 2017, 36(10): 197-202.