3T-1R并联机器人的动力学建模与设计  

Dynamic Modeling and Design of 3T-1R Parallel Robot

作　　者：马晓丽[1] 张庆功[1] 张雪莲[1] 

机构地区：[1]浙江工业大学浙西分校,浙江衢州324000

出　　处：《煤矿机械》2008年第11期52-54,共3页Coal Mine Machinery

基　　金：浙江省自然科学基金资助项目(Y104347)

摘　　要：提出一种新型4自由度并联机器人机构的力分析方法。用分析静力学的虚位移原理及雅可比矩阵建立并联机构的静力平衡方程,并计算和仿真验证该方程。用达朗贝尔方法建立机构的动力学模型,在ADAMS软件中作机构的动力学仿真分析。A dynamic analysis method of the new 4 - DOF parallel robot mechanism was presented. Static - equilibrium equations of the parallel mechanism ware established by virtual displacement principle of the ana- lytical statics and Jacobian matrix, and the equations ware validated by computing and simulating. The dynamic modeling was established adopting D＇Alembert principle, and dynamic simulations of the mechanism were done by ADAMS software.

关 键 词：并联机器人机构 自由度 力分析 动力学建模 样机 

分 类 号：TH113[机械工程—机械设计及理论]