3-■RS柔性并联机器人的动力学分析  

Dynamics Analysis of a 3-■RS Flexible Parallel Manipulator

作　　者：刘善增[1,2] 余跃庆[1] 佀国宁[1] 刘庆波[1] 杨建新[1] 

机构地区：[1]北京工业大学,北京100124 [2]中国矿业大学,徐州221116

出　　处：《中国机械工程》2009年第7期757-762,共6页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50575002);北京市自然科学基金资助项目(3062004);北京市教委科技发展计划项目(KM200610005003)

摘　　要：对一种空间3-■RS柔性并联机器人进行了动力学分析。首先,提出了一种空间柔性梁单元模型;接着,利用有限元理论、KED分析方法和Lagrange方程建立了3-■RS柔性并联机器人的支链动力学模型,通过运动协调条件将各支链的动力学方程组装在一起,得到了系统弹性动力学方程,在此基础上,分析了柔性并联机器人动力学方程的Newmark求解方法;最后,通过算例分析了该柔性并联机器人动平台动力学响应的变化规律。The primary goal of this research is for dynamics analysis of a 3-RRS spatial parallel manipulator with flexible links. Firstly, a new model of spatial flexible beam element was proposed. Then, the dynamics equations of all serial sub-chains of the parallel manipulator were derived based on the finite element theory, kineto-elastodynamics （KED） analysis method and Lagrange equations. The dynamics model of the complete system was obtained through the applications of constraint conditions of the legs and the movable platform. Furthermore, Newmark numerical method was used to solve the dynamics equations. Finally, the dynamics responses of the movable platform were analyzed through a numerical simulation. The results can provide necessary information for dynamics perform- ance analysis, dynamics simulation and control of the 3--RRS flexible parallel mechanism.

关 键 词：柔性并联机器人 动力学分析 位移误差 有限元 动力学响应 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TH11[自动化与计算机技术—控制科学与工程]