以平面2-DOF冗余驱动并联机器人为研究对象，结合拉格朗日方程和键合图两种方法，建立了该机器人机电耦合多能域系统动力学模型。针对该机构特点，提出了一种将动力学模型线性化的待定系数法，通过该方法，经过严密的数学推导，得到了机电耦合多能域系统动力学模型的线性化形式，避免了传统的简化方法得到动力学模型线性化形式带来的误差。以五次多项式改进的傅里叶级数优化并联机构末端激励轨迹。搭建了动力学参数辨识试验平台，以加权最小二乘法对其机电耦合多能域系统的动力学参数进行了基于试验的辨识研究。所提的辨识策略不仅可以辨识出机器人机构本体的惯性参数与关节摩擦参数而且还可以辨识出电动机和减速机的等效转动惯量以及等效阻尼系数。设计了基于计算力矩的力位混合控制策略，并将辨识出的动力学参数应用到控制策略中，通过试验验证了机电耦合多能域系统动力学参数辨识的实用性与基于计算力矩的力位混合控制策略的有效性。
李永泉
,
王立捷
,
刘天旭
,
张阳
,
张立杰
. 一种并联机器人机电耦合多能域系统动力学参数辨识、控制及试验[J]. 机械工程学报, 2018
, 54(11)
: 141
-150
.
DOI: 10.3901/JME.2018.11.141
The planar 2-DOF redundant actuation parallel robot is taken as the object of study. Combining with two methods of Lagrange equation and bond graph, the dynamics model of the electromechanical coupling multi-energy domain system of the robot is established. According to the characteristics of the robot, a method of undetermined coefficients for linearization of dynamic models is presented, and by means of this method, the linearized form of dynamic model of the electromechanical coupling multi-energy domain system is obtained, which can avoid the error caused by the linearized form of the dynamic model obtained by the traditional simplified method. The excitation trajectory of identification is constructed by Fourier series improved by quintic polynomial form. The experimental platform of dynamic parameter identification is built, the identification of the dynamic parameters of the electromechanical coupling system is studied by the weighted least square method base on the experiment. The proposed identification strategy can not only identify the inertial parameters and friction parameters of the mechanism, but also identify the equivalent moment of inertia and the equivalent friction coefficient of the motor and the reducer. The force/position hybrid control strategy base on the computed torque is designed, and the identified dynamic parameters are applied to the control strategy. The practicability of the identification of the dynamic parameters of the electromechanical coupling multi-energy domain system and the correctness of the force/position hybrid control strategy based on the computed torque are verified by experiments.
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