6-PSS并联机器人动力学模型的牛顿—欧拉方法

A Newton-Euler Formulation for the Inverse Dynamics of the 6-PSS Parallel Mechanism

给出了动平台的速度、加速度与各个构件的速度、加速度之间的关系,以牛顿—欧拉法为基础,对6-PSS并联机构各个杆件和动平台分别建立牛顿—欧拉方程,并消去其内力,以动平台为研究对象导出6-PSS并联机构动力学方程的开式和闭式形式,最后进行了数值仿真,给出了动平台做一定曲线运动时各驱动力的变化曲线。为基于动力学的控制奠定了基础。

A formulation based on Newton-Euler equation was educed for the dynamic model of the 6-PSS parallel mechanism. The velocity and acceleration between platform and other poles were deduced, And Newton-Euler equations were presented for every poles and the platform. In order to contain the effect of the gravity and inertia force of all components, all of forces between poles and between platform and other pole were removed. As a result, closed-form equations for the inverse dynamics of the holistic parallel mechanism were cstablished. Finally, the emulational curves of each driving force are given, while the platform is moving with certain curves, Thus, the foundation is laid for the control based on dynamics.