Simulink和SimMechanics环境下并联机器人动力学建模与分析  

Dynamic modeling and analysis of a parallel manipulator using Simulink and SimMechanics

作　　者：王英波[1] 黄其涛[1] 郑书涛[1] 韩俊伟[1] 许宏光[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2012年第1期100-105,共6页Journal of Harbin Engineering University

基　　金：机器人技术与系统国家重点实验室基金资助项目(SKLRS200803B)

摘　　要：为了对六自由度并联机器人动力学模型进行充分验证和分析,并提高建模与分析的效率,提出在Simulink和SimMechanics环境下进行动力学建模与分析的计算机辅助方法.将六自由度并联机器人描述为单个刚体,采用凯恩方法建立其单刚体动力学模型,设计了基于铰点空间控制策略的经典PID控制器,并在Simulink和SimMechanics这2种环境下进行了动力学建模仿真,六自由度并联机器人的动力学响应完全一致,说明了在Simulink和SimMechanics 2种环境下的动力学模型都是正确的,并且所提出的方法也可应用于所有机械系统的动力学建模与分析.In order to do a sufficient validation and analysis of the dynamic model of a 6-DOF parallel manipulator and improve the efficiency of the dynamic model and analysis,two computer-aided methods for dynamic modelling in a Simulink environment and SimMechanics environment were proposed.The 6-DOF parallel manipulator was described as a single rigid body using the Kane method to establish the single rigid body dynamic model along with the joint space control law to design a classic proportional-integral-derivative（PID） controller,and the simulation was carried out in Simulink and SimMechanics.The dynamic responses of the 6-DOF parallel manipulator in the two kinds of simulation environment are completely consistent,which proves that both of the two dynamic models using Simulink and SimMechanics are correct.Moreover,the proposed method can also be applied to all mechanical systems for dynamics modelling and analysis.

关 键 词：并联机器人 动力学模型 计算机辅助方法 凯恩方法 单刚体 PID控制器 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]