摘要
针对传统的建模方法忽略连杆自身重力并具有较大误差这一问题,对单个杆件在铰链约束及重力作用下的受力情况进行分析,推导出机器人处于任意位姿时连杆受力与动平台负载力(矩)二者的关系,从而建立了3-RPS并联机器人完整的静力学模型.利用Matlab的SimMechanics和Simulink模块库构造出该3-RPS并联机器人的仿真模型,对该模型进行受力仿真,验证了静力学模型的正确性.该研究同样适用于其他种类的3自由度并联机器人.
The static force on a parallel robot describes the relationship between its driving force and a load held still at a random position.It is very important to understand the static forces of a parallel robot for proper selection of actuators and controls.However,the conventional method has ignored gravitational forces on the connecting bar and has thus been inaccurate.The situation needed fresh analysis in order to include restrictions on joints and gravitational effects.The forces on the connecting bar and the moving platform and their relationships at random poses were deduced.Then,a more complete static model of a 3-RPS was built,and the simulation model was set up using SimMechanics and the Simulink blockset from Matlab.During the simulation,the static model was verified.The research results should be applicable to other parallel robots with three degrees of freedom.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2010年第8期1061-1064,1066,共5页
Journal of Harbin Engineering University
基金
中国博士后科学基金资助项目(200902372)
中央高校基本科研业务费专项基金资助项目(HEUCF100706)
