冗余驱动直角坐标串并联机构动力学对比分析

Comparative analysis on kinetics with redundant driving of Cartesian serial-parallel manipulator

对全新结构的万能直角串并联机构进行冗余驱动设计,通过建立动力学方程和欧拉方程,对机构的动平台各输入铰点处的受力状况进行了全面的分析,已知机构在给定空间位置和姿态下的输出端的受力、主轴的运动参数、连杆的运动参数、水平和垂直运动滑块的运动参数时,可以反向求解机构的动力学反解,通过计算机语言编程计算和绘图得到直观有效的结果数据,由此得知冗余驱动在改善原机构的动力学特性方面的良好表现.

Redundant driving structure designed based on a new type of universal Cartesian serial-parallel manipulator, kinetics equations and Euler equations constructed, complete analysis of each jointed points of the moving platform carried out, inverse kinetics solution can be obtained with the given parameters, which inelude the position and orientation of the manipulator, applied force on the output shaft, parameters of motion of output shaft and connecting bar and sliding block, computer programming adopted to get the valid data and its figure, thus found the perfect show of this redundant driving structure compared to the primary mechanism without redundant driving.