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以一种3-PRS并联机器人为研究对象,建立动力学方程。首先,推导此种并联机器人动平台的6个参数之间的关系。然后,通过Lagrange方程推导出此3-PRS并联机器人的动力学模型,并分析此并联机器人的动力学特性。通过算例,讨论了此并联机器人等效质量、驱动力的变化规律。结果表明,机构位形对等效质量和驱动力的影响很大,驱动力对等效质量的变化很敏感。此研究对进一步分析此类3-PRS并联机器人的动态特性、优化机构设计及控制系统提供了有益指导。
Taking a 3-PRS parallel robot as the research object, a dynamic equation is established. First, the relationship between the six parameters of the parallel robot kinematics platform is derived. Then, the kinetic model of this 3-PRS parallel robot is deduced by Lagrange equation and the dynamic characteristics of the parallel robot are analyzed. Through the example, the change rule of equivalent mass and driving force of the parallel robot is discussed. The results show that the mechanism shape has a great influence on the equivalent quality and driving force, and the driving force is sensitive to the change of the equivalent mass. This study provides a useful guide to further analyze the dynamic characteristics of such 3-PRS parallel robots and optimize the mechanism design and control system.