并联6-SPS机器人动力学分析

The Dynamic Analysis of parallel 6-SPS Robot

并联 6-SPS机器人是一种特殊结构形式的机器人 .通过对其动力学问题进行探讨 ,给出了并联6-SPS机器人系统的动能、惯性张量、惯性力的矩阵表达形式 ,利用动力学普遍方程建立了运动控制方程 ,得到了机构 6个液压缸的驱动力和上平台所受广义力之间的关系式 ,并进行了计算机仿真计算 ,为并联机器人的结构设计和动力控制提供了依据 .该分析方法简明、实用 ,公式形式整齐 ,便于编程计算 .

The dynamic problems of parallel 6-SPS robot are studied in this paper,and the matrix formulas of kinetic energy,inertia tensor,and inertia force are given.The motion control equation is established by using dynamic universal equation.The relation between the driven Forces of the six hydraulic cylinders of the mechanism and the generalized force of upper platform is attained.It provides basis for the mechanism design and force control of parallel robot.The analysis method is concise and practical,and the formulas are in good order,which are convenient for programming calculation.Finally,the computer simulation calculations are carried out.