6-PRRS并联机器人的动力学建模研究  

Dynamics modeling of 6-PRRS parallel robot

作　　者：杨永刚[1] 刘玉斌[1] 赵杰[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150080

出　　处：《哈尔滨工业大学学报》2009年第1期53-57,共5页Journal of Harbin Institute of Technology

基　　金：长江学者和创新团队发展计划资助项目(IRT0423)

摘　　要：为解决并联机器人动力学模型的计算复杂性与实时准确控制之间的矛盾,采用虚功原理建立6-PRRS并联机器人各构件随参数变化的完整动力学方程,对6-PRRS并联机器人动力学模型在各种工作情况下进行仿真分析,对机器人各部分质量和转动惯量对驱动力的影响进行研究,提出动力学模型简化策略,减小了动力学计算量,提高并联机器人动力学的计算速度,为并联机器人的控制和参数识别奠定了基础.The dynamics modeling of 6-PRRS parallel robot is presented in order to solve the conflict between the complex calculation of parallel robot＇ s dynamics model and the real-time control with high precision. The principle of virtual work was used to get the full dynamics model with the consideration of effects of all parts＇ gravity and inertial force. The dynamics model was simulated and analyzed under various work situations, and effects of all parts＇ gravity and inertial on driving force were studied. A simplified strategy is presented. It can reduce the computational complexity and improve the computing efficiency, which provides a basis for the control and parameter estimation of parallel robot.

关 键 词：并联机器人 动力学 实时控制 参数识别 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]