并联微机器人的逆动力学

本文基于牛顿 欧拉法建立了一类PSS副、带柔性铰链的六自由度并联微机器人的 逆动力学方程，这是设计、控制微机器人的前提和基础．所建模型不仅考虑了因柔性铰链的 特殊性，微机器人连杆绕自身轴线转动的内部运动，还分析了柔性球铰弹性变形产生的反力 矩．由于微机器人机构本体以及逆动力学建模过程中所固有的并联特性，对逆动力学可实施 并行算法．最后以一实例进行了仿真分析，仿真结果表明微机器人所需驱动力呈线性变化， 揭示了微机器人在微动情况下的线性本质．

INVERSE DYNAMICS OF MICRO ROBOT BASED ON NEWTON-EULER METHOD

The inverse dynamics equation is established for a class of PSS,6 DOF parallel micro robot with flexible spherical joint by Newton Euler approach, which is the basis for further design and control issue. The presented model not only takes into account the internal motion which the rod rotates about its own axis due to the use of flexible spherical joint but also analyzes the reaction torque generated by the elasticity deformation of flexible spherical joints. The parallel feature inherent in the robot mechanism and modeling makes it possible and quite efficient to compute the dynamics in a parallel computing environment. A simulation study shows the linearity of the driven force of the microrobot, which reveal the linear nature of the microrobot under small motion.