Stydy Of Identification Of Dynamic Parameters Of The Scissor3-PRS Paralell Robot

At present with the requirement and development of electric vehicle field, thebattery-swapping stations has been bulit and the battery swapping technology ofelectric vehicle has been studied in these days. However, the existing batteryswapping equipments are mostly adopted by a single degree of freedom scissor liftand don’t meet the condition of the leaning car. The scissor3-PRS parallel robots forswapping battery is designed to improve it. But the dynamic parameters of parallelrobots are hard to be obtained, so the control performance based on the model is notperfect. Therefore, it is necessary to establish an appropriate dynamic model andgain accurate dynamic parameters for parallel robots.The scissor3-PRS parallel robot for swapping battery is available for the studyof the thesis. Firstly the kinetic model is built by using DH method. And then theposition, velocity and acceleration constraint equations of parallel robots areobtained as the foundation for the torque distribution. Then forward and inversekinematics of the robots using numerical method are given. Secondly, dynamicmodel of the parallel robot is built based on the Gibbs-Appell equations, and thenthe dynamic model of the scissor part is introduced by using Lagrange dynamicequations. Two dynamic modeling methods are combined and the energy method isused for obtaining the equivalent forces of scissor prismatic joint. In addition, thedynamic base parameters are obtained by QR decomposition method. And then themethod for the excited trajectory are analyzed.The optimized condition number arestudied in the thesis. Finally, Adams model of the parallel robot is built for thesimulation，and then the control system platform of the parallel robot are built. Theparallel robot is excited by the optimal trajectory. And the process of experimentalare carried out to realize parameters identification.