蠕动转向关节动力学建模与分析  

Dynamics Modeling and Analysis of Wriggle Turning Joint

作　　者：颜兵兵[1] 解明强[1] 孙红旗[1] 

机构地区：[1]佳木斯大学机械工程学院,黑龙江佳木斯154007

出　　处：《科技导报》2011年第3期44-47,共4页Science & Technology Review

基　　金：黑龙江省教育厅科学技术研究项目(11541355)

摘　　要：为确立拱泥机器人蠕动转向关节的运动关系,提出了可实现直行和转向运动的3自由度并联机构动力学模型。基于对3-UPS并联机构运动特性的分析,首先建立了3-UPS运动学模型,得出3-UPS并联机构动平台和各支链的速度以及加速度关系式。基于Lagrange方程建立3-UPS并联机构的动力学模型,确立了系统的驱动力、驱动力矩以及各个支链主动杆的驱动力。利用Matlab软件对其动力学模型进行仿真分析,得到的驱动力和驱动力矩变化曲线为拱泥机器人控制系统设计提供了技术支撑,也为少自由度并联机构动力学分析提供参考。The dynamics model of 3-UPS parallel mechanism with three degrees of freedom is created in order to determine the moving relations of the wriggle turning joints for a move-in-mud robot. After reviewed some relative researches on move-in-mud robot,a parallel mechanism with three degrees of freedom is given which can accomplish straight and turning movement. Based on the analysis on the moving characteristics of 3-UPS parallel mechanism,the kinematics model of this mechanism is created firstly,so as to obtain the relational expression of velocity and acceleration of moving platform and each branch chain. Then,based on the Lagrange equation,the dynamics model of 3-UPS parallel mechanism is established to solve the total driving force and torque of the whole system and the drive force of each active lever. By using software of Matlab,the simulation analysis on the dynamics model as mentioned above is carried out to get some changing curves about drive force and torque. These works provide the foundation for the design of control system of move-in-mud robot and give a reference to the dynamics analysis of parallel mechanism with few degrees of freedom.

关 键 词：并联机构 3-UPS LAGRANGE方程 运动学/动力学建模 广义坐标 系统动能 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]