二移动自由度并联操作臂的动力学建模  

Dynamic modeling of a parallel manipulator with two translational degrees of freedom

作　　者：王启明[1] 汪劲松[2] 刘辛军[2] 王立平[2] 

机构地区：[1]中国科学院国家天文台,北京100012 [2]清华大学精密仪器与机械学系,北京100084

出　　处：《清华大学学报（自然科学版）》2002年第11期1469-1472,共4页Journal of Tsinghua University(Science and Technology)

基　　金：国家"八六三"高技术项目(2001AA421110);国家"九七三"重点基础研究项目(G1998030607)

摘　　要：应用Lagrange乘子法研究了一种二移动自由度并联操作臂的动力学问题,该方法可避免关节空间与操作空间的坐标变换,计算效率能够满足实时控制要求。描述了这种具有高刚度、高灵活性和结构模块化强的操作臂结构,求出了它的位置、速度、加速度和Jacobian矩阵的表达式;建立了带有广义坐标变量的系统动力学模型,按照给出的运动轨迹和操作臂质量、加速度等参数进行了动力学仿真,其结果揭示了关节驱动力与上述参数间的内在联系。The dynamics of a parallel manipulator with two translational degrees of freedom was investigated using the Lagrange multiplier approach. Since the algorithm does not use a coordinate transformation between the joint space and Cartesian space, it increases the calculational efficiency so that realtime control can be realized. The algorithm was applied to a modular parallel mechanism with high rigidity and high flexibility to predict the position, velocity, acceleration and Jacobian matrix of the manipulator. A closed form dynamic model was presented based on the generalized system coordinates. The dynamic simulation shows the relation between the joint actuating force and the process parameters such as the platform trajectory and the manipulator mass and acceleration.

关 键 词：自由度 并联操作臂 动力学建模 结构设计 驱动力控制 LAGRANGE方程 LAGRANGE乘子法 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]