摘要
采用拉格朗日法,以驱动量为广义坐标建立了6-PPPS并联机器人动力学模型,基于运动学正解推导了完整形式的动力学模型,并对机器人平动时动力学模型进行了分析,给出了实例仿真。该机器人平动时,动力学模型简洁,适合实时控制,为机器人动力学轨迹规划提供了参考。
A dynamic model of 6 -PPPS parallel robot is presented by Lagrangian method which uses driving as generalized coordinates. The complete form dynamic model is deduced by direct kinematics and dynamic model of robot translation is analyzed. Finally, a simulation example is given. Dynamic model of robot translation is concise and suitable for real time control. It provided a reference for dynamic trajectory planning.
出处
《机械设计与研究》
CSCD
北大核心
2007年第6期27-30,共4页
Machine Design And Research
基金
国家自然科学基金资助项目(60534020)
国家973重点基础研究发展计划资助项目(2006CB705400)
