面向新型四自由度3T1R并联机器人的动力学分析和近似建模方法  

Dynamic analysis and approximate modeling for a novel 4-DOF 3T1R parallel robot

作　　者：贾锶 王桂荣 陈思鲁 胡华 张驰[2] 杨桂林[2] JIA Si;WANG Guirong;CHEN Silu;HU Hua;ZHANG Chi;YANG Guilin(College of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou 310018,China;Ningbo Institute of Materials Technology and Engineering,Chinese Academy of Sciences,Ningbo 315201,China)

机构地区：[1]中国计量大学机电工程学院,浙江杭州310018 [2]中国科学院宁波材料技术与工程研究所,浙江宁波315201

出　　处：《中国计量大学学报》2023年第3期412-420,共9页Journal of China University of Metrology

基　　金：浙江省重点研发计划项目(No.2021C01069)。

摘　　要：目的:研究一种新型四自由度3T1R并联机器人的动力学分析和近似建模方法。方法:使用拉格朗日函数方法对该机器人的动力学模型进行了详细推导,得到机器人的动力学方程。基于被动关节角小角度近似、等效均质杆近似、等效集中质量近似三个步骤,顺次对该机器人进行近似建模。结果:在实际抓放轨迹下,ADAMS下的动力学仿真结果与近似前、后的动力学模型计算结果拟合良好,且近似后计算时间减少了63.12%。结论:验证了此种机器人动力学近似模型方法的准确性,可为该并联机器人的控制与优化提供参考。Aims:This paper aims to study the dynamic analysis and the approximate modeling method of a novel 4-DOF 3T1R parallel robot.Methods:The dynamic model of the robot was deduced by using the Lagrange function method to obtain the dynamic equation.Based on the small angle approximation of the passive joint angle,the equivalent homogeneous rod and the equivalent concentrated mass,the approximate model of the robot was built in sequence.Results:Under the actual grasping and releasing trajectory,the dynamic simulation results under ADAMS were in good agreement with the dynamic model calculation results before and after approximation;and the calculation time was reduced by 63.12%after approximation.Conclusions:The accuracy of this robot dynamic model and its simplification is verified,which provides a reference for the control and optimization of this parallel robot.

关 键 词：并联机器人 拉格朗日方法 动力学模型化简 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]