| 柔性并联机器人运动学与动力学约束及系统方程 |
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| 引用本文： | 杜兆才,余跃庆.柔性并联机器人运动学与动力学约束及系统方程[J].北京工业大学学报,2008,34(3):236-240. |
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| 作者姓名： | 杜兆才 余跃庆 |
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| 作者单位： | 北京工业大学机械工程与应用电子技术学院,北京,100022;北京工业大学机械工程与应用电子技术学院,北京,100022 |
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| 基金项目： | 国家自然科学基金，北京市自然科学基金，北京市教委科技发展计划，北京市教委人才强教拔尖人才资助项目 |
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| 摘 要： | 为了建立包含柔性杆件的并联机器人的动力学模型,利用运动弹性动力学理论及有限元方法.分析了柔性并联机器人各支链的弹性变形、弹性位移及其耦合关系,提出了柔性并联机器人的运动约束条件和动力约束条件,建立了平面柔性并联机器人的系统方程.以平面3-RRR柔性并联机器人为例,用SAMCEF软件验证了模型的正确性,二者最大相对误差小于9%,说明该动力学模型能正确反映柔性并联机器人的弹性振动特性.
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| 关 键 词： | 柔性并联机器人 弹性变形 耦合 运动约束条件 动力约束条件 系统方程 |
| 文章编号： | 0254-0037(2008)03-0236-05 |
| 修稿时间： | 2006年10月10 |
Kinematic, Dynamic Constraint Conditions and System Equations of Flexible Parallel Robots |
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| DU Zhao-cai,YU Yue-qing.Kinematic, Dynamic Constraint Conditions and System Equations of Flexible Parallel Robots[J].Journal of Beijing Polytechnic University,2008,34(3):236-240. |
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| Authors: | DU Zhao-cai YU Yue-qing |
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| Abstract: | To obtain the dynamic model of flexible-link parallel robots,the kineto-elastodynamics theory and the finite element method were employed to analyze the relation between elastic deformations and elastic dis- placements of the flexible links.The kinematic constrain conditions and dynamic constrain conditions of the elastic displacements of the planar flexible parallel robots were proposed.Finite element-based system equa- tions were presented for the dynamics of planar flexible parallel robots.The numerical simulation of a planar 3-RRR parallel robot was presented and compared with the results of SAMCEF software simulation.The maximal relative error is less than 9%,and the numerical simulation results show good coherence and the validity of the system equations.The dynamic behavior of the planar flexible parallel robot can be well illus- trated through the system equations. |
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| Keywords: | flexible parallel robot elastic deformation coupling kinematic constraint condition dynamic constraint condition system equation |
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