摘要
以一种3-PRS并联机器人为研究对象,建立动力学方程。首先,推导此种并联机器人动平台的6个参数之间的关系。然后,通过Lagrange方程推导出此3-PRS并联机器人的动力学模型,并分析此并联机器人的动力学特性。通过算例,讨论了此并联机器人等效质量、驱动力的变化规律。结果表明,机构位形对等效质量和驱动力的影响很大,驱动力对等效质量的变化很敏感。此研究对进一步分析此类3-PRS并联机器人的动态特性、优化机构设计及控制系统提供了有益指导。
The dynamics equation of a 3-PRS Parallel Manipulator is built in the paper. Firstly,the interrelationship between the six motion coordinates of the moving platform of the manipulator is derived. And then,the dynamics model of the mechanism is established on the basis of Lagrange method and the dynamic characteristics of the mechanism is analyzed. The variation tendency of the equivalent mass and driving forces are discussed through an example. The results show that the configuration has a significant influence on the equivalent mass and driving forces,driving forces is sensitive to the change of equivalent mass. The research provides a useful guidance to further analyze the dynamic characteristics,optimal mechanism design and control system of such a 3-PRS parallel manipulator.
出处
《机械设计与研究》
CSCD
北大核心
2015年第2期1-5,共5页
Machine Design And Research
基金
河南省科技厅资助科技攻关项目(132102210430)
