3-RRC型并联机器人动力学分析向量键合图法  

A Vector Bond Graph Method of Dynamic Analysis for 3-RRC Parallel Robot

作　　者：王中双[1] 邹鹤[1] 陶洋洋[1] 杨洪澜[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：《机械设计与制造》2016年第2期106-109,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(51175272);黑龙江省研究生创新基金项目(YJSCX2013-JD01)

摘　　要：为提高空间并联机器人系统动力学分析的效率及可靠性,提出了相应的向量键合图法。根据3-RRC型并联机器人构件间的邻接关系,将空间运动刚体、空间旋转角及圆柱铰的向量键合图模型组合起来,建立了3RRC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并联机器人机构自动建模与动力学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3-RRC型并联机器人系统计算机自动建模与动力学分析。通过实际算例说明了所述方法的可靠性及有效性。For improving the reliability and efficiency of the dynamic analysis of spatial parallel robot systems, the corresponding vector bond graph procedure is proposed. From the joined structure of 3-RRC parallel robot mechanism,the vector bond graph model of 3-RRC parallel robot is made by assembling the vector bond graph model of spatial rigid body,spatial revolute joint and cylindrical joint. For the algebraic difficulties brought by differential causality and nonlinear junction structure in automatic modeling and dynamic analysis of spatial parallel robot mechanism,the effective bond graph augment method is proposed. By the corresponding algorithm,the automatic modeling and dynamic analysis of 3-RRC parallel robot system on a computer is realized. By a practical example system,the reliability and validity of the procedure proposed is illustrated.

关 键 词：3-RRC型并联机器人 动力学建模 向量键合图 因果关系 键合图增广 铰约束 

分 类 号：TH16[机械工程—机械制造及自动化]