空间柔性并联机械臂的运动约束条件及动力学方程

2011 Second International Conference on Mechanic Automation and Control Engineering Pub Date : 2011-07-15 DOI:10.1109/MACE.2011.5988145

Liu Shan-zeng, Zhu Zhencai, Liu Chusheng, Zhang Lianjie, Yu Yueqing

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引用次数: 3

摘要

本文主要研究具有柔性连杆的空间并联机械臂的动力学建模与分析。提出了一种新的空间有限元梁模型。推导了空间柔性并联机器人运动平台和分支机构的运动学约束条件。基于牛顿-欧拉原理建立了移动平台的动力学模型。然后，利用运动平台的运动学约束方程和动力学模型，通过对各单元的动力学方程进行装配，得到并联机器人的整体系统动力学方程。最后，对3-RRS并联机器人进行了数值仿真，并与SAMCEF软件仿真结果进行了比较。结果表明了本文所建立的动力学模型的有效性和正确性。

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Kinematic constraint conditions and dynamic equations of spatial flexible parallel manipulator

The primary goal of this research is dynamics modeling and analysis of spatial parallel manipulator with flexible links. A new model of spatial finite element beam model is proposed. The kinematic constraint conditions of the moving platform and the branches of the spatial flexible parallel manipulator are derived. The dynamic model of the moving platform is developed based on the Newton-Euler principle. Then, using the kinematic constraint equations and dynamic model of the moving platform, the overall system dynamic equations of the parallel manipulator are obtained through assembling the dynamic equations of elements. Finally, the numerical simulation of a 3-RRS parallel manipulator was presented and compared with the results of SAMCEF software simulation. The results showed that the effectiveness and correctness of the dynamic models proposed in this paper.

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2011 Second International Conference on Mechanic Automation and Control Engineering

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