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为提高复杂空间机器人系统动态静力分析的效率及可靠性,提出了相应的向量键合图法。根据运动约束条件,建立了空间球铰及棱柱铰的向量键合图模型。在此基础上,建立了3SPS+1PS型并联机器人向量键合图模型。针对微分因果关系及非线性结型结构给空间机器人机构自动建模与动态静力分析所带来的代数困难,提出了有效的增广方法。应用相应的算法,实现了3SPS+1PS型并联机器人系统计算机自动建模与动态静力分析,由此说明了所述方法的有效性。
In order to improve the efficiency and reliability of the dynamic static analysis of complex space robot system, the corresponding vector bond graph method is proposed. According to the motion constraints, a vector bond graph model of the spatial sphere hinge and the prism hinge is established. On this basis, a 3 BPS + 1PS parallel robot vector bond graph model is established. Aiming at the algebraic difficulties caused by the differential causality and the nonlinear structure of the robot, the algebraic difficulties brought by the automatic modeling and dynamic static analysis of space robot are put forward. The corresponding algorithm is used to realize the computer automatic modeling and dynamic static analysis of the 3SPS + 1PS parallel robot system, which shows the effectiveness of the method.