摘要
提出一种由3自由度平动并联机构和放大机构组成的新型并串联复合机器人。从柔性多体系统动力学角度出发,分析了机器人的动力学模型,建立了其动力学方程。运用KED的解题方法,对机器人进行了运动弹性动力学分析,得到了符合实际情况的计算结果。
Combining a parallel mechanism and a pantograph, it establishes a 3 - dof hybrid robotic manipulator, which increases high stiffness as well as workspace. The model is analyzed and a vibration equation is derived from dynamic analysis of flexible multi body system. By applying KED method, it analyzes the equation. The calculation result coincides with the practical situation.
