摘要
利用一种矩阵的广义标量积,导出6-SPS并联机器人动平台和驱动腿的速度及加速度显式表达式,并运用虚功原理和达朗伯原理建立了动力学模型。根据其计算特点,构造动力学并行算法,减少在线计算量和时间,为机构的实时控制提供有利条件。还对其作为可调节型机构,研究了平台半径和构件质量对驱动力的影响。给出的仿真实例证明此方法的有效性。
The expressions of velocity and acceleration of active platform and driving links of the 6-SPS parallel robot are derived by adopting a generalized scalar product for matrix, and the dynamic model is established based on virtual power and d＇Alembert theory. Parallel algorithm is also constructed according to characters of dynamic calculation, therefore on-line calculation amount and time can be reduced greatly, which is of advantage to real-time control of mechanisms. The influence of radius of platforms and the mass of links on driving force is also discussed. The examples of simulation showed that the method is effective.
出处
《现代制造工程》
CSCD
2006年第9期5-8,共4页
Modern Manufacturing Engineering
基金
国家自然科学基金资助项目(50375104)
