6-PSS柔性并联机器人动力学分析与仿真

Dynamics Analysis and Simulation of 6-PSS Flexible Parallel Robot

为了提高风洞试验的安全性,对风洞试验用6-PSS并联机构进行柔性动力学分析。首先,对机构进行运动学分析,得到机构的运动学逆解,利用一阶影响系数法,推导出机构雅可比矩阵。其次,在拉格朗日方程基础上,采用一种合理简化模型动力学建模方法,给出机构动力学方程。提出一种简单实用的柔性动力学建模方法,运用ADAMS软件建立机构的柔性动力学模型,进行并联机构的柔性动力学仿真。对比刚体动力学和柔性动力学曲线,验证了柔性动力学仿真的正确性。最后,分析柔性动力学中驱动力和柔性变形等数据曲线,总结出并联机构柔性状态下动力学特征。

In order to improve the safety of the wind tunnel test,the flexible dynamics of a 6-PSS parallel mechanism for the wind tunnel was analyzed.At first,inverse kinematics of the parallel mechanism was received based on the analysis of its kinematics,and Jacobian matrix was calculated by using the first-order influence coefficient method.Then,the dynamics equation was solved by using the Lagrange equations and a simplified rational dynamics method.A simple and practical method of flexible dynamic simulation was put forward.The flexible dynamic simulation of the parallel was obtained with ADAMS software.The correctness of flexible dynamics simulation was verified by comparing the kinetics and dynamics date form rigid and flexible analysis.At last,the character of flexible kinetics was summed up by analyzing the driven force and flexible deformation data.