并联机器人的动力学分析与优化

Q4 Computer Science

International Journal of Computer Science and Applications Pub Date : 2014-02-01 DOI:10.14355/IJCSA.2014.0301.10

W. Kai-jie, Wu Jianxin

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引用次数: 0

摘要

并联机械臂机电耦合动力学模型是一种多输入、多输出、非线性、强耦合的复杂机电系统。目前还没有一种完善的方法来计算并联机械臂的动力学建模和仿真。采用拉格朗日法建立了6UPS -并联机械臂动力学模型;设计了PID位置控制器;采用惯性权值自适应粒子群算法对控制器参数进行了优化。计算机仿真结果表明，所建立的机电耦合动力学模型是正确的，控制器能很好地控制机械手。

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Dynamic Analysis and Optimization of Parallel Manipulator

Electromechanical coupling dynamic model of parallel manipulator is a kind of a complicated electromechanical system which is multi‐input, multi‐output, nonlinear and strong coupling. There is not a perfect method to calculate dynamic modeling and simulation of parallel manipulator at present. 6UPS‐parallel manipulator dynamic model was set up by Lagrange method; PID position controller was designed; and the controller parameters were optimized by inertia weight adaptive particle swarm optimization in the article. It was proved that the modeling of electromechanical coupling dynamic model was right and the manipulator was controlled well by the controller through the simulation result of computer.

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来源期刊

International Journal of Computer Science and Applications Computer Science-Computer Science Applications

自引率

0.00%

发文量

期刊介绍： IJCSA is an international forum for scientists and engineers involved in computer science and its applications to publish high quality and refereed papers. Papers reporting original research and innovative applications from all parts of the world are welcome. Papers for publication in the IJCSA are selected through rigorous peer review to ensure originality, timeliness, relevance, and readability.