3-RSR并联机器人动力学研究

Dynamics study on 3-RSR parallel robot

该文利用雅可比矩阵建立了3-RSR并联机器人动平台惯性力、惯性力矩和重力到驱动关节的映射关系,在合理的假设基础上,运用牛顿欧拉动力学方程得到了比较精确的动力学模型。再用拉格朗日方程建立动力学模型并和前者比较,在同样假设情况下,给出数值实例,两个模型的计算结果完全一致。牛顿欧拉法比拉格朗日法减少了大量的计算,但动力学模型仍保持3-RSR并联机器人的动力学特征,用牛顿欧拉方程建立的模型作为驱动力矩控制设计的基础是可行的。

By the use of Jacobian matrix this paper established the mapping relationship of inertia force, moment of inertia and gravity to joint of moving platform of 3-RSR parallel robot, The comparatively accurate dynamics model was obtained on the basis of rational assumption and using the Newton-Euler dynamics equation, And then using the Lagrangian equation to set up the dynamics model and to make a comparison with the former, a numerical living example was presented under the same assuming condition, the calculated results of the two models are completely the same, Big amount of calculations had been reduced with the Newton-Euler approach compared with the Lagranian approach, yet the dynamics model is still maintaining the dynamics characteristics of 3-RSR parallel robot, It is feasible that using the model established by NewtonEuler equation as the basis of the design of driving moment control.