一种并联四足机器人机电耦合多能域系统动力学参数优化设计  

An Optimal Design of Dynamic Parameters for Electromechanical Coupled Multi-energy Domain System of a Parallel Four-legged Robot

作　　者：张彦陟[1] ZHANG Yan-zhi(Minnan University of Science and Technology,Provincial Key Laboratory of Industrial Robot Measurement and Control,Rapid Die Manufacturing,Shishi Fujian 362700,China)

机构地区：[1]闽南理工学院,工业机器人测控与模具快速制造福建省高校重点实验室,福建石狮362700

出　　处：《装备制造技术》2018年第11期69-72,共4页Equipment Manufacturing Technology

基　　金：工业机器人测控与模具快速制造福建省高校重点实验室项目(闽教科[2017]8号)

摘　　要：采用平面冗余驱动并联四足机器人为研究对象,并且结合拉格朗日方程和键合图等两种方法,建立该四足机器人的机电耦合多能域系统动力学模型。而且还针对该机构的特点,提出了一种将动力学模型线性化的待定系数法,并且通过该方法,经过严密的数学推导,就得到了机电耦合多能域系统动力学模型的线性化形式,将能很好地避免传统的简化方法得到的动力学模型线性化形式带来的误差。The planar redundant drive parallel four-legged robot is used as the research object,and the electromechanical coupling multi-energy domain system dynamics model of the four-legged robot is established by combining the Lagrangian equation and the bond graph.But also according to the characteristics of the institution,this paper puts forward a kind of the linearized dynamic model of the method of undetermined coefficients,and through this method,a strict mathematical deduction,get the electromechanical coupling pluripotent domain the linearization model of system dynamics,this can be a very good avoid the traditional simplified method error brought about by the form of linear dynamic model.

关 键 词：四足机器人 拉格朗日方程 键合图 系统动力学 误差 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]