基于正、逆动力学的移动悬架并联机械手动力学建模有效性研究

Study on the validity of dynamics modeling of a mobile suspension parallel manipulator based on positive and inverse kinetics

以多体动力学理论为指导,在笛卡尔坐标系下分别构建了移动悬架并联机械手系统的正、逆运动学模型和动力学模型,并以此为基础,采用数值仿真法对系统逆动力学模型进行求解,然后将部分解作为系统正运动学和正动力学模型的输入和边界条件,并进行数值仿真。最后通过正、逆动力学数值仿真比较,验证了系统动力学模型构建和求解方法的正确性和有效性。

Guided by the theory of multi-body dynamics,the positive and inverse kinematics models of a mobile suspension parallel manipulator system as well as its positive and inverse dynamics models are established in the Cartesian coordinate system,and based on the models,the numerical simulation method is used to solve the system＇s inverse dynamics model,and then,by taking the partial solutions as the inputs and the boundary conditions of the positive kinematics（ model） and the positive dynamics model,the numerical simulaitons are performed. At last,the correctness and effectiveness of the methods for establishing the system＇s and solving it are verified by the comparison of the positive dynamics numerical simulation and the inverse dynamics numerical simulation.