摘要
以一种新型3T2R冗余驱动混联机构为研究对象,采用Lagrange方程法建立了基于工作空间的动力学模型。首先,基于影响系数法建立机构动平台输出速度与各构件运动速度的映射矩阵;然后,基于各构件的速度和位置确定系统的Lagrange方程,完成动力学建模;随后,借助最小2范数法实现机构工作空间的非约束等效广义力到轴向驱动力的优化;最后,基于动力学模型分析机构驱动冗余与非冗余对机构性能的影响。得出冗余驱动时驱动力峰值可降低约44%,且驱动性能显著改善。
The inverse dynamic model for a novel 3T2 R redundantly actuated hybrid mechanism is formulated in the task space using Lagrangian formalism. First,the velocity mapping relationships between the moving platform and each component were established based on influence coefficient. Then,the Lagrangian dynamic model was provided based on the velocity and position of each component. Next,the driving force was optimized by utilizing the minimal 2-norm method. At last,the effect of redundancy and non-redundancy on mechanism performance was based on dynamic model. The result showed that the peak of driving force can be reduced by about 44% and the drive performance can be significant improvement when it was redundant.
出处
《机械设计与制造》
北大核心
2016年第5期144-148,共5页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(51275486)
