Study on Dynamic Parameters Identification Method of 3-DOF Cable-driven Parallel Robot System

洪振宇; 林健; 高轩; 张志旭

doi:10.13433/j.cnki.1003-8728.20230120

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Study on Dynamic Parameters Identification Method of 3-DOF Cable-driven Parallel Robot System

更新时间：2026-07-10

- Study on Dynamic Parameters Identification Method of 3-DOF Cable-driven Parallel Robot System
- Mechanical Science and Technology for Aerospace Engineering Vol. 43, Issue 11, Pages: 1845-1854(2024)
- 作者机构：
  
  中国民航大学机构航空工程学院,天津,300300
- 作者简介：
- 基金信息：
- DOI：10.13433/j.cnki.1003-8728.20230120
  CLC： TP242
- Published：2024
- 稿件说明：
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洪振宇, 林健, 高轩, et al. Study on Dynamic Parameters Identification Method of 3-DOF Cable-driven Parallel Robot System[J]. Mechanical Science and Technology for Aerospace Engineering, 2024, 43(11): 1845-1854.
DOI：

洪振宇, 林健, 高轩, et al. Study on Dynamic Parameters Identification Method of 3-DOF Cable-driven Parallel Robot System[J]. Mechanical Science and Technology for Aerospace Engineering, 2024, 43(11): 1845-1854. DOI： 10.13433/j.cnki.1003-8728.20230120.

摘要

针对柔索牵引并联机器人驱动单元结构复杂、强耦合的特性导致难以辨识机电耦合系统动力学参数的问题，通过整合驱动单元各耦合部件的转动惯量和黏性阻尼系数的方法，将伺服电机和卷筒机构作为一个整体研究对象，建立系统的动力学模型，构建可分离待辨识参数的辨识模型。以傅里叶级数优化末端执行器的激励轨迹，搭建试验平台，采集试验数据；基于加权最小二乘法拟合电机转矩数据，分步辨识出机器人系统的动力学参数。对比试验表明：该文提出的动力学参数辨识方法可行且辨识结果可靠。

Abstract

Aiming at the problem that it is difficult to identify the dynamic parameters of the electromechanical coupling system due to the complex structure and strong coupling characteristics of the drive unit of the cable-driven parallel robot

by integrating the moment of inertia and viscous damping coefficient of each coupling component of the drive unit

the servo motor and the winch mechanism are combined as a whole research object

and the dynamic model of the system is established

an identification model that can separate the parameters to be identified is built. The excitation trajectory of the end effector is optimized by using Fourier series

the test platform is built

and the test data is collected; the motor torque data is fitted by using the weighted least squares method

and the dynamic parameters of the robot system are identified by using the step-by-step identification method. The comparative experiments show that the present dynamic parameter identification method is feasible and the identification results are reliable.

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