摘要
基于自然正交补方法,推导出了一种真空并联机器人简洁的动力学模型.首先得到真空并联机器人的等效串联模型,并获取其运动学正反解.然后用利用自然正交补的理论给出真空机器人的动力学模型.通过仿真实验,可以验证该方法的可行性和有效性.
Based on the natural orthogonal complement, a concise dynamic model of vacuum parallel robots is calculated. Firstly, the solutions of kinematics and inverse kinematics are obtained by establishing an equivalent serial model of the vacuum parallel robots. Then, the dynamic model of vacuum robots is given based on natural orthogonal complement. By simulation, the feasibility and the availability of this method are proved.
出处
《机器人》
EI
CSCD
北大核心
2012年第6期730-736,共7页
Robot
基金
国家科技重大专项资助项目(2009ZX02012)
关键词
自然正交补
真空机器人
动力学
natural orthogonal complement
vacuum robot
dynamics
