液压并联机器人的键图建模

Modeling of Hydraulic Parallel Robot Using Bond Graph

键图是一种能够统一处理多能量范畴工程系统的有效方法,该文针对液压驱动并联机器人提出了一种新颖的全系统键图仿真模型。基于牛顿-欧拉法建立运动平台的键图模型,根据伺服阀和液压缸的流量方程及力平衡方程建立阀控缸作动器的键图模型,按照因果关系规则将二者集成为全系统的键图模型。实例仿真表明该模型较真实地反映了系统的动态特性,可用于液压并联机器人的动力学分析和控制系统设计。

Bond graph is an effective unified approach to treat the engineering system with multiple energy domains. A novel bond graph model is presented for hydraulically driven parallel robot. The model for the motion platform is established based on Newton-Euler method. According to the servo valve and the cylinder＇s flow equations and the dynamic equilibrium equation, the hydraulic actuator model is also established. The above models＇ integration under causal relation rule forms the whole- system model of the parallel robot. The simulation shows that this model reflects the real behavior of the parallel robot. It can be used in the dynamical analysis and control system design of parallel robots.