摘要
用拉格朗日法推导出平面五杆并联机器人的动力学模型,得出驱动力矩的表达式.通过对平面五杆并联机器人模型的分析,得出了平面五杆并联机器人的主动关节等效惯量、耦合惯量和驱动力矩的变化规律.结果表明,对于给定的运动规律,机构的位形对系统的主动关节等效惯量、耦合惯量和驱动力矩的影响较大.
This paper presented the dynamics equations of planar five-bar parallel robot based on the Lagrange equation,and obtained expression of driving torques.The equivalent inertia,coupling inertia and driving torques of the active joints of mechanism were analyzed through the existing model.The results show that,for a given motion,the configuration has a significant influence on the equivalent inertia,coupling inertia and driving torques.
出处
《北京工商大学学报（自然科学版）》
CAS
2009年第6期7-10,共4页
Journal of Beijing Technology and Business University:Natural Science Edition
基金
北京市自然科学基金资助项目(3082005)
关键词
平面五杆机构
并联机器人
动力学
planar five-bar mechanism
parallel robot
dynamics
