六自由度并联机器人动力学分析和计算

Dynamics Analysis and Calculation of 6-DOF Parallel Robot

六自由度并联机器人的动力学分析是确定液压源压力、作动器有效工作面积和选择伺服阀规格的基础。根据并联机器人机构学原理 ,建立了系统的物理模型和数学模型 ,应用牛顿—欧拉法 ,完成了动力学分析和计算。最后以教学实验台为例 ,详细论述了动力学分析和计算方法 ,根据计算结果 。

Dynamics analysis of 6 DOF parallel robot is the basis of deciding hydraulic pressure,actuator effective area,selecting servo valve.In this paper,system physical model and mathematic model are build by machine principle,and dynamics analysis and calculation are finished by Newton Euler method.In the end of this paper,the method of dynamics analysis and calculation is descrbed in detail by the example of tutorial test platform.At the same time,they are concluded that the rules of the actuator force in the different poses.