3SPS+1PS型并联机器人动态静力分析向量键合图法  

Vector Bond Graph Method of Kineto- static Analysis for 3SPS + 1PS Paralell Robot

作　　者：王中双[1] 陶洋洋[1] 刘尚[1] 陈集[1] 

机构地区：[1]齐齐哈尔大学机电学院,黑龙江齐齐哈尔161006

出　　处：《机械传动》2015年第7期11-15,共5页Journal of Mechanical Transmission

基　　金：国家自然科学基金(No.51175272);黑龙江省研究生创新基金项目(No.YJSCX─JD01)

摘　　要：为提高复杂空间机器人系统动态静力分析的效率及可靠性,提出了相应的向量键合图法。根据运动约束条件,建立了空间球铰及棱柱铰的向量键合图模型。在此基础上,建立了3SPS+1PS型并联机器人向量键合图模型。针对微分因果关系及非线性结型结构给空间机器人机构自动建模与动态静力分析所带来的代数困难,提出了有效的增广方法。应用相应的算法,实现了3SPS+1PS型并联机器人系统计算机自动建模与动态静力分析,由此说明了所述方法的有效性。In order to increase the reliability and efficiency of the kineto - static analysis of complex space robot systems, the corresponding vectcr bond graph method is proposed. From the kinematic constraint condi- tion, the vector bond graph models of spherical joint and prismatic joint are built. Based on this, the vector bond graph model of 3PS ＋ 1PS parallel robot is established. For the algebraic difficulties brought by differential causality and nonlinear junction structure in automatic modeling and kineto - static analysis of spatial robot mechanism, the effective bond graph augment method is proposed. By the corresponding algorithm, the auto- matic modeling and kineto -static ana：Lysis of 3PS ＋ 1PS parallel robot system on a computer is realized, its va- lidity is illustrated.

关 键 词：并联机器人 动态静力分析 向量键合图 因果关系 键合图增广 铰约束 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]