Exact Computation of Parallel Robot's Generalized Inertia Matrix  

作　　者：赵永杰 杨志永 梅江平 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6期395-399,共5页天津大学学报（英文版）

基　　金：Supported by National Natural Science Foundation of China (No. 50375106) , the State Scholarship Fund (No. 2004812032) and Key Laboratory of Intelligent Manufacturing at Shantou University ( No. Imstu-2002-11).

摘　　要：According to the definition of the new hypothetical states which have obvious physical significance and are termed as no-gravity static and accelerated states, a method for exact computation of the parallel robot＇s generalized inertia matrix is presented. Based on the matrix theory, the generalized inertia matrix of the parallel robot can be computed on the assumption that the robot is in these new hypothetical states respectively. The approach is demonstrated by the Delta robot as an example. Based on the principle of the virtual work, the inverse dynamics model of the robot is formulized after the kinematics analysis. Finally, a numerical example is given and the element distribution of the Delta robot＇s inertia matrix in the workspace is studied. The method has computationa＇, advantage of numerical accuracy for the Delta robot and can be parallelized easily.According to the definition of the new hypothetical states which have obvious physical significance and are termed as no-gravity static and accelerated states, a method for exact computation of the parallel robot's generalized inertia matrix is presented. Based on the matrix theory, the generalized inertia matrix of the parallel robot can be computed on the assumption that the robot is in these new hypothetical states respectively. The approach is demonstrated by the Delta robot as an example. Based on the principle of the virtual work, the inverse dynamics model of the robot is formulized after the kinematics analysis. Finally, a numerical example is given and the element distribution of the Delta robot's inertia matrix in the workspace is studied. The method has computational advantage of numerical accuracy for the Delta robot and can be parallelized easily.

关 键 词：generalized inertia matrix no-gravity static and accelerated states 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]