机械原理课程设计中机器人机构的动力学建模与仿真  

Dynamic Modeling and Analysis of 3-PRR Parallel Robot Mechanism in the Course Design of Machine Principle

作　　者：陈修龙[1] 陈天祥 CHEN Xiulong;CHEN Tianxiang(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China)

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《实验室研究与探索》2021年第2期109-114,共6页Research and Exploration In Laboratory

基　　金：山东科技大学优秀教学团队建设计划(JXTD20180502)。

摘　　要：为培养学生的机构分析能力,在机械原理课程设计中对3-PRR并联机器人机构动力学建模分析进行研究。推导出3-PRR并联机构位置反解、速度反解和加速度反解等方程。基于第2类拉格朗日方程建立3-PRR并联机器人机构逆动力学模型,据此求出各驱动关节的驱动力。在空载和负载两种情况下进行数值计算,经过与Adams仿真结果对比分析,验证了动力学建模的正确性。本研究为平面3自由度并联机器人机构运动学建模和动力学建模分析提供了有效的方法,为实物样机的优化设计奠定了理论基础。In order to cultivate mechanism analysis ability of students,the dynamics modeling and analysis of 3-PRR parallel robot mechanism is studied in in the course design of machine principle.Firstly,the inverse kinematics mathematical model of the mechanism,such as displacement,velocity and accelerationare derived.Based on the second kindLagrange equation,the inverse dynamic model of the 3-PRR parallel manipulator is established,and the driving forces of the driving joints are obtained.The validity of the dynamic modeling is verified by comparing the simulation results with Adams.This study provides an effective method for kinematics modeling and dynamics modeling analysis of planar 3-DOF parallel manipulator,and lays a theoretical foundation for the optimization design of the prototype.

关 键 词：并联机器人机构 拉格朗日方程 动力学建模 驱动力 

分 类 号：G642.0[文化科学—高等教育学]