|
|||||
|
|
| 6-PSS并联机器人动力学模型的牛顿-欧拉方法 | |
| 引用本文： | 张建政,刘伟,高峰.6-PSS并联机器人动力学模型的牛顿-欧拉方法[J].机械设计与研究,2007,23(3):54-57,69. |
| 作者姓名： | 张建政 刘伟 高峰 |
| 作者单位： | 1. 河北工业大学,机械工程学院,天津,300130 2. 河北工业大学,机械工程学院,天津,300130;北京航空航天大学,机械工程及自动化学院,北京,100083 3. 上海交通大学,机械与动力工程学院,上海,200030 |
| 摘 要： | 给出了动平台的速度、加速度与各个构件的速度、加速度之间的关系,以牛顿-欧拉法为基础,对6-PSS并联机构各个杆件和动平台分别建立牛顿-欧拉方程,并消去其内力,以动平台为研究对象导出6-PSS并联机构动力学方程的开式和闭式形式,最后进行了数值仿真,给出了动平台做一定曲线运动时各驱动力的变化曲线.为基于动力学的控制奠定了基础. |
| 关 键 词： | 动力学模型 并联机器人 牛顿-欧拉法 动力学仿真 并联机器人 动力学模型 牛顿 欧拉方法 Parallel Mechanism Inverse Dynamics 控制 变化曲线 驱动力 曲线运动 数值仿真 闭式 力学方程 对象 研究 内力 欧拉方程 杆件 并联机构 欧拉法 |
| 文章编号： | 1006-2343（2007）03-054-04 |
| 修稿时间： | 2006-11-10 |
A Newton-Euler Formulation for the Inverse Dynamics of the 6-PSS Parallel Mechanism |
|
| ZHANG Jian-zheng,LIU Wei,GAO Feng.A Newton-Euler Formulation for the Inverse Dynamics of the 6-PSS Parallel Mechanism[J].Machine Design and Research,2007,23(3):54-57,69. | |
| Authors: | ZHANG Jian-zheng LIU Wei GAO Feng |
| Abstract: | A formulation based on Newton-Euler equation was educed for the dynamic model of the 6-PSS parallel mechanism. The velocity and acceleration between platform and other poles were deduced, And Newton-Euler equations were presented for every poles and the platform. In order to contain the effect of the gravity and inertia force of all components, all of forces between poles and between platform and other pole were removed. As a result, closed-form equations for the inverse dynamics of the holistic parallel mechanism were cstablished. Finally, the emulational curves of each driving force are given, while the platform is moving with certain curves, Thus, the foundation is laid for the control based on dynamics. |
| Keywords: | dynamic modeling parallel mechanism Newton-Euler method simulation of dynamics |
| 本文献已被 维普 万方数据 等数据库收录！ | |
