新型五自由度混联机器人及其动力学分析

Dynamics analysis of a novel 5-DOF hybrid manipulator

设计了一种新型五自由度混联机器人结构,对其构型进行了介绍和分析.应用D-H方法建立了该五自由度混联机器人的运动学模型.在此基础上,基于递归牛顿-欧拉算法对该混联机器人进行了动力学分析,推导了机器人各连杆的速度、加速度、惯性力和力矩,同时,推导了各连杆相互作用的力、力矩及关节驱动力或力矩,研究了各连杆的运动速度、加速度及受力情况.通过Matlab数值仿真和ADAMS虚拟样机验证了动力学分析求解的正确性,为后续结构优化和运动控制提供了依据.

A novel 5 degree of freedom (DOF)hybrid manipulator was designed.The structure of this manipulator was introduced.The kinematics of this manipulator was modeled based on the Denavit-Hartenberg method.Additionally,the dynamics analysis based on the recursive Newton-Euler algo-rithm was presented.The detailed forms of each link of this manipulator about velocity,acceleration, inertial force and moment were obtained.The spatial force and moment across each joint and the joint variables of driving force or driving torque were also given.Finally,the validity of the dynamics solu-tion is verified via Matlab numerical simulation and ADAMS virtual prototype simulation for the fur-ther structure optimization and the motion control.