三相驱动下非光滑振动驱动系统的动力学分析 |
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引用本文: | 朱诗慧,周震,吕敬,王琪.三相驱动下非光滑振动驱动系统的动力学分析[J].力学学报,2020,52(6):1755-1764. |
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作者姓名: | 朱诗慧 周震 吕敬 王琪 |
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作者单位: | 北京航空航天大学航空科学与工程学院, 北京 100083 |
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基金项目: | 国家自然科学基金;国家自然科学基金 |
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摘 要: | 可移动式机器人已成为机器人研究领域的重要分支,为实现其在狭小特殊环境中的运动, 学者们提出并研究了振动驱动移动系统.本文基于二维LuGre摩擦模型和拉格朗日方程,给出了一类振动驱动系统在各向同性摩擦环境中的动力学建模方法和数值算法.这类振动驱动系统结构简单且密封性好,依靠箱体与地面间的摩擦力实现自身的定向运动.该系统由一个外部箱体和两个内部质量块构成,两个质量块在箱体内的两个平行轨道上作三相振动驱动,箱体通过三个刚性支撑足与地面保持接触. 二维LuGre摩擦模型的利用,可有效避免库伦摩擦模型的不连续性给动力学方程的数值求解带来的困难,且可有效揭示该系统在运动过程中的黏滞-滑移切换现象. 数值仿真结果表明,通过调整其内部质量块的驱动参数,可实现箱体的直线平移、定轴转动和平面一般运动,且箱体在移动和转动过程中会出现擦滑、穿滑、回滑和不黏等4种现象; 另外,通过调节驱动参数, 不仅可以改变箱体移动和转动的快慢,还可以改变箱体形心运动轨迹的曲率半径.
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关 键 词: | 振动驱动系统 三相驱动 黏滞-滑移 LuGre摩擦模型 |
收稿时间: | 2020-05-30 |
KINETICS ANALYSIS OF NON-SMOOTH VIBRATION-DRIVEN SYSTEM WITH THREE-PHASE CONTROL |
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Institution: | School of Aeronautic Science and Engineering, Beihang University, Beijing 100083, China |
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Abstract: | Mobile robot has become an important branch in the domain of robotics. In order to achieve its movement in some narrow and special environments, the vibration-driven system has been proposed and researched by domestic and foreign scholars. In this paper, such a vibration-driven system consisting of an external rigid box and two internal mass blocks which are driven by three-phase control on two parallel orbits is researched. And the box is always in contact with the rough ground via three rigid support elements. This kind of vibration-driven system has simple structure, good sealing performance, and relies on the friction force between the box and the rough ground to realize its directional movement. Based on the two-dimensional LuGre friction model and Lagrange equations of the second kind, the dynamic modeling method and numerical algorithm of the vibration-driven system are presented in an isotropic friction environment. The use of the two-dimensional LuGre friction model can effectively avoid the difficulty of solving the dynamic equations caused by the discontinuity of the Coulomb friction model, and can accurately reveal the stick-slip switching phenomenon during the movement of vibration-driven systems. The numerical simulation results show that the driving parameters of the internal mass blocks can be adjusted to realize rectilinear translation, rotation about a fixed-axis and general plane motion of the rigid box. And four types of stick-slip motion with different sliding regions can occur during the translation and rotation of the rigid box, such as grazing sliding, crossing sliding, switching sliding and no stick. In addition, the translational speed and rotational speed of the box body and the radius of curvature of the box centroid trajectory can be changed by adjusting the driving parameters. |
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