平面三自由度并联机构逆动力学的模块化计算方法

Modular computational method for inverse dynamics of planar 3-DOF parallel manipulators

应用模块化计算方法研究了平面三自由度并联机构的逆动力学,计算效率能够满足实时控制的要求。首先对平面三自由度并联机构进行了系统分类和描述,通过对各类支链的运动学及动力学逆解的分析,应用Newton-Euler法建立平面三自由度并联机构的逆动力学模型,提出了平面三自由度并联机构动力学逆解模块化计算软件的系统构架,结果表明该方法适用于各类平面三自由度并联机构的逆动力学自动建模和可重构设计,并给出了一台新型并联机床的分析实例。

A modular computation method was developed for the inverse dynamics of planar 3-DOF parallel manipulators. The method improves the calculational efficiency so that real-time control can be realized. A analytical kinematic and dynamic solutions of chains were used to develop inverse dynamic models of the parallel manipulators using the Newton-Euler equation. The solution algorithm for the inverse dynamics of the planar 3-DOF parallel manipulators is described with an analysis of a novel 3-DOF parallel machine tool. The results show that the method automatically generates inverse dynamic solutions and reconfigures designs of planar 3-DOF parallel manipulators.