摘要
根据6-PTRT并联机器人机构及约束特点,对动平台及各支链进行运动学分析,利用虎克铰特性建立各支链动坐标系,计算各运动部件瞬态惯性张量,采用KANE方法推导出该并联机器人动力学模型。利用MATLAB软件和ADAMS软件联合仿真,验证所建立动力学方程的正确性。应用Akima插值法对动力学响应进行优化,结果表明,利用优化后动力学响应驱动各支链可有效提高机构运行稳定性。利用KANE方法建立动力学模型并用Akima插值法优化动力学响应能有效减少计算步骤,并得到平滑的动力学响应曲线,为并联机器人轨迹规划、动力学特性分析及高精度控制提供理论依据。
Analyze kinematic characteristics of the platform and each branch according to the robot＇ s mechanical and constrained characteristic. Calculate the inertia tensor of each part by establishing the dynamic coordinate of each branch on hooke hinge properties. Establish the dynamics modeling of 6-PTRT parallel robot using KANE equation. The correctness of the dynamic equa- tion was verified by simulation of MATLAB software and ADAMS software. The dynamic response was optimized by Akima spline method. The results show that driving each branch by the optimized dynamic response can effectively improve the stability of the mechanism. Establishing the dynamic modeling by KANE method and optimizing it by Akima spline method can effectively reduce the calculation steps and obtained a sooth dynamic response curve to provide a theoretical basis for parallel robot trajectory planning, dynamic analysis and high-precision control.
出处
《现代制造工程》
CSCD
北大核心
2016年第8期38-43,共6页
Modern Manufacturing Engineering
