摘要
实现六足并联机构高速,高加速运动控制的关键在于所建动力学模型的准确表达、适当简化以及实时计算速度的满足。在分析了液压六足并联机构组成的基础上,建立了包含执行元件控制特性的六足并联机构动力学模型。对所建模型进行逆动力学计算机仿真,根据大量仿真计算数据,综合分析了包含执行元件控制特性的逆动力学模型不同项的重要性。分析结果对简化动力学模型,提高在线计算效率,实现六足并联机构高速,高加速运动控制,具有一定的指导意义。
The motion control of the hexapod parallel mechanism with high speed and high acceleration depends on the accurate dynamics model, proper simplification and real-time computing. Based on the analysis of its components, a dynamics model of hexapod parallel mechanism including the control characteristics of actuator was built, and the inverse tcinematics simulation was carried on. According to a large amount of simulation datum, the importance of different items in the inverse dynamic model including the actuators was analyzed, and these analysis results are significant for online computational efficiency, the high speed and high acceleration control of the mechanism.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2009年第21期6889-6892,6896,共5页
Journal of System Simulation
关键词
六足并联机构
动力学建模
计算机仿真
动力机构
执行元件
hexapod parallel mechanism
dynamics modeling
computer simulation
power mechanisms
actuator
