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.
LI Yongquan
,
WANG Lijie
,
LIU Tianxu
,
ZHANG Yang
,
ZHANG Lijie
. Dynamic Parameter Identification, Control and Experiment of an Electromechanical Coupling Multi-energy Domain System For a Parallel Robot[J]. Journal of Mechanical Engineering, 2018
, 54(11)
: 141
-150
.
DOI: 10.3901/JME.2018.11.141
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