平面宏动并联机器人动态模拟

Dynamic Modeling of Planar Macro-driven Parallel Robot

针对宏微结合的宏动并联机器人建立了动力学模型,实现基于模型的滑模控制及仿真。首先,根据机构闭式约束等式,分析机构的逆位置和正位置,同时推导了机构的速度和加速度关系式。在此基础上,选择各杆件的关键点,建立各关键点的偏速度和偏角速度,利用Newton-Euler公式分析各杆件的惯性力和惯性力矩,考虑了微动平台对宏动机器人运动的作用,根据虚功原理建立了动力学方程。最后,应用动态补偿策略,设计了滑模控制器。仿真结果表明了方法的有效性。

The dynamic modeling and slide-mode control for a planar macro-micro parallel robot were investigated. Firstly, the inverse position and the forward position were analyzed by vector method. The velocities and accelerations of the mechanism were derived. Then, pivotal points were selected. The partial velocity and angular velocity about these ones were obtained. The inertial force and moment of the links were obtained by Newton - Euler formulation. Furthermore, based on the principle of virtual work, the dynamic formulation of the system with micro-driven table was formulated. Finally, a sliding-mode controller was designed. The result showed that proposed method was effective.