Inverse Dynamics of Delta Robot Based on the Principle of Virtual Work  

作　　者：赵永杰 杨志永 黄田 

机构地区：[1]School of Mechanical Engineering, Tianjin University, Tianjin 300072, China

出　　处：《Transactions of Tianjin University》2005年第4期268-273,共6页天津大学学报（英文版）

基　　金：Supported by National Natural Science Foundation of China (No. 50375106) andKey Laboratory of Intelligent Manufacturing at Shantou University Grant (No. Imstu-2002-11).

摘　　要：A systematic methodology for solving the inverse dynamics of the Delta robot is presented.First,the inverse kinematics is solved based on the vector method.A new form of the Jacobi matrix formulized by the vectors is obtained so the three types kinematics singularities namely inverse, direct and combined types, can be identified with the physical meaning.Then based on the principle of virtual work, a methodology for driving the dynamical equations of motion is developed.Meanwhile the whole actuating torques, the torques caused by the gravity, the velocity and the acceleration are computed respectively in the numerical example. Results show that torque caused by the acceleration term is much bigger than the other two terms.This approach leads to efficient algorithms since the constraint forces and moments of the robot system have been eliminated from the equations of motion and there is no differential equation for the whole procedure when the principle of virtual work is applied to solving the inverse dynamical problem.A systematic methodology for solving the inverse dynamics of the Delta robot is presented. First ,the inverse kinematics is solved based on the vector method. A new form of the Jacobi matrix formulized by the vectors is obtained so the three types kinematics singularities namely inverse, direct and combined types, can be identified with the physical meaning. Then based on the principle of virtual work, a methodology for driving the dynamical equations of motion is developed.Meanwhile the whole actuating torques, the torques caused by the gravity, the velocity and the acceleration are computed respectively in the numerical example. Results show that torque caused by the acceleration term is much bigger than the other two terms. This approach leads to efficient algorithms since the constraint forces and moments of the robot system have been eliminated from the equations of motion and there is no differential equation for the whole procedure when the principle of virtual work is applied to solving the inverse dynamical problem.

关 键 词：Jacobi matrix： parallel robot inverse dynamics  principle of virtual work 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]