东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2003, Vol. 24 ›› Issue (11): 1075-1077.DOI: -

• 论著 • 上一篇    下一篇

三杆并联平动机器人机构动力学

胡明;原所先;蔡光起   

  1. 东北大学机械工程与自动化学院;东北大学机械工程与自动化学院;东北大学机械工程与自动化学院 辽宁沈阳　110004
  • 收稿日期:2013-06-24 修回日期:2013-06-24 出版日期:2003-11-15 发布日期:2013-06-24
  • 通讯作者: Hu, M.
  • 作者简介:-
  • 基金资助:
    国家高技术研究发展计划项目(863 9803 05)·

Dynamic study on three-leg parallel robot

Hu, Ming (1); Yuan, Suo-Xian (1); Cai, Guang-Qi (1)   

  1. (1) Sch. of Mech. Eng. and Automat., Northwestern Univ., Shenyang 110004, China
  • Received:2013-06-24 Revised:2013-06-24 Online:2003-11-15 Published:2013-06-24
  • Contact: Hu, M.
  • About author:-
  • Supported by:
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摘要： 用拉格朗日方法对一种创新的三杆平动并联机器人机构进行了动力学建模,该机器人的动力学正方程为显示表达,计算量小,为该并联机器人的力和扭矩的实时控制策略实施提供了基础·利用动力学模型对该机器人的可操作性和动力学特性进行了分析,引用动态可操作性椭球指标来评价该机器人的动力学特性,并对动力学特性进行了仿真·分析结果证明,该机器人在工作空间内部,特征系数增大,动态可操作性变坏,得出该机器人特征系数小于2时,动态可操作性较好·该新型并联机器人动力学性能良好,具有很好应用价值·

关键词: 并联机器人, 运动学, 工作空间, 动力学, 惯性椭球

Abstract: A dynamics model for a new developed three-leg parallel robotic mechanism was established by Lagrange approach. The model, as an explicit expression, is convenient to calculate, providing a basis on which the real time control of forces and torques are available to the robot. The operability and the dynamic behavior of the robot were analyzed using the dynamics model, with the robot evaluated and simulated dynamically by means of an inertia ellipsoid for operability. The results showed that the greater characteristic coefficient of the robot is, the worse the operability will be within the workspace of the robot. So, if the characteristic coefficient is not higher than 2, the operability of the robot shows well through the geometrical representation. As a conclusion, the dynamic behavior of the robot is good and fairly applicable.

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