| 基于拉格朗日乘子法的Delta并联机器人简化刚体动力学建模方法 |
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| 引用本文： | 王刚,刘延杰,吴明月,韩海军.基于拉格朗日乘子法的Delta并联机器人简化刚体动力学建模方法[J].机械与电子,2015,0(7):68-72,76. |
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| 作者姓名： | 王刚 刘延杰 吴明月 韩海军 |
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| 作者单位： | (哈尔滨工业大学机器人技术及系统国家重点实验室,黑龙江 哈尔滨 150001) |
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| 基金项目： | 国家高技术研究发展计划(863)资助项目，黑龙江省科研机构创新能力提升专项计划项目 |
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| 摘 要： | 针对广泛应用于高速抓放操作的Delta并联机器人,提出了一种基于拉格朗日乘子法的刚体动力学建模方法,并利用约束方程的全微分求解出了动力学模型的显示表达式。建立了机器人的逆运动学以及刚体动力学模型,考虑机器人从动臂臂杆为轻质碳纤维杆,两端为较重的金属附件的特点,建立了简化刚体动力学模型。并针对机器人常用的高速抓放轨迹进行仿真,将简化前后的2种动力学模型与ADAMS仿真结果进行对比。
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| 关 键 词： | 并联机器人 拉格朗日乘子法 简化刚体动力学模型 逆运动学模型 |
A Simplified Rigid Body Dynamic Modelling Method of Delta Robot Based on Lagrangian Multiplier Method |
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| WANG Gang,LIU Yanjie,WU Mingyue,HAN Haijun.A Simplified Rigid Body Dynamic Modelling Method of Delta Robot Based on Lagrangian Multiplier Method[J].Machinery & Electronics,2015,0(7):68-72,76. |
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| Authors: | WANG Gang LIU Yanjie WU Mingyue HAN Haijun |
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| Affiliation: | (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001,China) |
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| Abstract: | Targeting a Delta parallel robot which is widely used for high speed pick-and-place operation, a novel approximation for simplified rigid body dynamic model based on Lagrangian multiplier method is established. Both of the inverse kinematic and rigid dynamic model are developed, and the dynamic model is simplified considering the actual situation of the robot. Comparing the calculation results of the dynamic model before and after the simplification with the simulation results show that the simplified rigid model can not only reduce the amount of calculation but also improve the accuracy of it. |
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| Keywords: | parallel robot Lagrangian multi-plier method simplified rigid body dynamic mod-el inverse kinematic model |
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