6-PRRS并联机器人的动力学建模研究

Dynamics modeling of 6-PRRS parallel robot

为解决并联机器人动力学模型的计算复杂性与实时准确控制之间的矛盾,采用虚功原理建立6-PRRS并联机器人各构件随参数变化的完整动力学方程,对6-PRRS并联机器人动力学模型在各种工作情况下进行仿真分析,对机器人各部分质量和转动惯量对驱动力的影响进行研究,提出动力学模型简化策略,减小了动力学计算量,提高并联机器人动力学的计算速度,为并联机器人的控制和参数识别奠定了基础.

The dynamics modeling of 6-PRRS parallel robot is presented in order to solve the conflict between the complex calculation of parallel robot＇ s dynamics model and the real-time control with high precision. The principle of virtual work was used to get the full dynamics model with the consideration of effects of all parts＇ gravity and inertial force. The dynamics model was simulated and analyzed under various work situations, and effects of all parts＇ gravity and inertial on driving force were studied. A simplified strategy is presented. It can reduce the computational complexity and improve the computing efficiency, which provides a basis for the control and parameter estimation of parallel robot.