摘要
研究一种3-RRRT新型高速搬运机器人动力学建模及正向动力学求解实现方法。以支链构件相对运动坐标和动平台绝对运动坐标作为广义坐标,结合拉格朗日第一类方程建立了3-RRRT型并联机器人的运动学与动力学模型。阐述了运用违约修正法对动力学模型(微分/代数方程组)进行求解的过程,并利用Matlab软件平台进行了动力学正向数值仿真,结果表明此数值积分方法速度快、精度高,适合于3-RRRT并联机器人动力学正向求解。
The paper studied the dynamic modeling and forward dynamic solution implementation for a 3-RRRT parallel robot. It also established the robot＇s kinematics and dynamics model jointly using its branch bars＇ relative motion coordinates, its movable platform＇s absolute motion coordinates as generalized coordinates and the first category of the Lagrange equations. Moreover, it sought the numerical solution of the robot＇s dynamics model （ differential/algebraic equations） using the constraint violation correction method. Finally it carried out the forward dynamic and numerical simulations of the parallel robot using the MATLAB software. The simulation results show that the numerical integral method is fast and precise, being suitable for seeking the robot＇s forward dynamic solutions.
出处
《机械科学与技术》
CSCD
北大核心
2007年第3期369-372,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
天津自然科学基金项目(05YFJMJC04900)
河南省教育厅自然科学计划项目(2006460004)资助
关键词
并联机器人
微分/代数方程组
动力学仿真
第一类拉格朗日方程
parallel robot
differential-algebraic equation
dynamics simulation
first category of Lagrange equation
