新型完全各向同性移动并联机器人的动力学分析与仿真  

Dynamics Analysis and Simulation of a Novel Fully-isotropic Translational Parallel Robot

作　　者：张彦斌[1] 王增辉[1] 何强[2] 赵浥夫 丁丁[1] Zhang Yanbin Wang Zenghui He Qiang Zhao Yifu Ding Ding(School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China School of Mechanical Engineering, Anyang Institute Technology, Anyang 455000, China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471003 [2]安阳工学院机械学院,河南安阳455000

出　　处：《机械传动》2017年第10期113-118,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金(50905055);河南科技大学重大科技项目培育基金(2015XTD012);河南科技大学教育教学改革重点资助项目(2015YBZD-021);河南省高等学校重点科研项目基础研究计划项目(18A460001)

摘　　要：提出了一种新型完全各向同性移动并联机器人。首先对该机器人的运动学问题进行了分析,建立其位置、速度和加速度方程;然后以"库伦+黏性"摩擦模型为基础,推导出驱动滑块和球铰所受的摩擦力/力矩方程;在考虑摩擦的情况下,利用牛顿-欧拉法分别建立了驱动滑块、分支运动链和机器人动平台的动力学模型,揭示了分支驱动力和加在动平台上的外力之间的映射关系;最后基于ADAMS软件和MATLAB编程对机器人动力学进行仿真,绘制出驱动滑块所受的驱动力变化曲线,两种仿真结果完全一致,验证了理论分析的正确性和有效性。该机构可用于农业机器人、工业机器人的末端执行机构。A novel fully - isotropic translational parallel robot is presented, which consists of a moving platform connecting with a fixed base by three identical limbs. Firstly, the analysis of kinematical problems of the robot are performed and the equations about position, velocity and acceleration are established. Then the friction forces/torques of the actuated prismatic pairs and the spherical joints are discussed based on the ＂ Coulomb ＋ Viscous＂ friction model. The dynamics models of the actuated pairs, the kinematical chains and the moving platform are set up respectively by using the Newton - Euler method. The mapping relationship between the driving force of the actuated pairs and the external force applied on the platform is explored. Finally, dynamics simulation of the parallel robot is completed based on ADAMS and MATLAB software and the driving force curves of the actuated joints are given. Simulation results show that the theoretical analysis is correct and effective. The proposed parallel mechanism has widely potential applications in end - effectors of the agricultural robots, industrial robots.

关 键 词：并联机器人 动力学分析 摩擦力/力矩 仿真分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]