东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2010, Vol. 31 ›› Issue (11): 1607-1610.DOI: -

• 论著 • 上一篇    下一篇

一种三自由度并联机器人的动力学分析

李兵;张宇;谢里阳;魏玉兰;   

  1. 东北大学机械工程与自动化学院;
  • 收稿日期:2013-06-20 修回日期:2013-06-20 出版日期:2010-11-15 发布日期:2013-06-20
  • 通讯作者: -
  • 作者简介:-
  • 基金资助:
    国家高技术研究发展计划项目(2007AA04Z428);;

Dynamic analysis of a 3-DOF parallel manipulator

Li, Bing (1); Zhang, Yu (1); Xie, Li-Yang (1); Wei, Yu-Lan (1)   

  1. (1) School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, China
  • Received:2013-06-20 Revised:2013-06-20 Online:2010-11-15 Published:2013-06-20
  • Contact: Li, B.
  • About author:-
  • Supported by:
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摘要： 介绍了一种三自由度并联机器人系统,建立了系统固定坐标系和运动坐标系.使用有限元法和弯曲振动法分析了机器人的动力学特性,建立了机器人的动力学方程,并对比了假设模态法的动力学特性.通过机器人的实验系统获得了机器人的共振频率和阻尼比,并分析了共振模态.将三种计算方法得到的固有频率与实验值作了比较,结果表明假设模态法获得的固有频率更接近于实验值.

关键词: 并联机器人, 动力学, 固有频率, 拉格朗日方程

Abstract: The structural system of a 3-DOF flexible parallel manipulator is described, to which both the fixed and motional coordinate systems are set up. The dynamic characteristics of the manipulator are analyzed by FEM and bending vibration method, thus obtaining the dynamic equation based on the bending vibration theory and comparing it with the dynamic characteristics based on modal assumption. The resonant frequency and damping ratio of the manipulator are obtained via an experimental system for the manipulator, with the resonance mode discussed. The natural frequencies calculated by FEM, bending vibration and modal assumption are compared with the experimental value separately, and the results showed that the natural frequency obtained by modal assumption is closest to the experimental value.

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