摘要
提出一种新型4自由度并联机器人机构的力分析方法。用分析静力学的虚位移原理及雅可比矩阵建立并联机构的静力平衡方程,并计算和仿真验证该方程。用达朗贝尔方法建立机构的动力学模型,在ADAMS软件中作机构的动力学仿真分析。
A dynamic analysis method of the new 4 - DOF parallel robot mechanism was presented. Static - equilibrium equations of the parallel mechanism ware established by virtual displacement principle of the ana- lytical statics and Jacobian matrix, and the equations ware validated by computing and simulating. The dynamic modeling was established adopting D＇Alembert principle, and dynamic simulations of the mechanism were done by ADAMS software.
出处
《煤矿机械》
北大核心
2008年第11期52-54,共3页
Coal Mine Machinery
基金
浙江省自然科学基金资助项目(Y104347)
关键词
并联机器人机构
自由度
力分析
动力学建模
样机
parallel robot mechanism
DOF
force analysis
dynamic modeling
prototype mode
