摘要
对提出的一种新型6-PUS/UPU 5自由度并联机器人进行了动力学建模与仿真研究。首先利用凯恩方法对并联机器人进行动力学分析,然后Pro/E软件对并联机器人进行了建模,最后利用Adams系统仿真软件对并联机器人进行了运动学和动力学仿真,并对凯恩动力学模型算出的驱动力与Adams仿真测出的驱动力进行比较,比较结果表明实体模型和动力学模型的准确性,并为优化动力学模型参数提供了有效的方法。
A new 5 degrees of freedom 6-PUS/UPU parallel robot was proposed, and driving for the dynamics modeling and simulation was carried out. Firstly, the dynamics model of the 6-PUS/UPU parallel robot was established by Kane＇s method. Secondly, the model of the parallel robot was established by using Pro/E software. Then the kinematics and dynamics simulation were worked out by the Adams system simulation software for the parallel robot. The driving force calculated by Kane dynamic model with the driving force measured from Adams simulation were compared, which shows that Kane dynamic model is right, and provides an effective method to optimize the dynamic model parameters.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2012年第9期1839-1843,共5页
Journal of System Simulation
基金
河北省自然科学基金青年基金资金(E2011203184)
关键词
并联机器人
动力学
凯恩法
仿真
parallel manipulator
dynamics
Kane＇s method
simulation
