网格计算环境中的球面并联机器人动力学仿真

基于以子结构为基本单元的建模思想,建立了3-DOF球面并联机器人的动力学解析模型,并基于网格计算技术构建了球面并联机器人动力学仿真的分布式并行计算环境。在网格计算环境中,由网格计算节点利用离线生成的动力学解析模型完成球面并联机器人动力学模型的并行仿真计算,减少了机器人动力学模型在线计算量和计算时间,为机器人的实时控制和仿真提供了有利条件。给出了球面并联机器人动力学模型矩阵的解析代码生成和仿真计算实例,研究了可调尺寸参数和惯性参数对机器人驱动力矩的影响。

Dynamic Simulation for Spherical Parallel Manipulators in Grid Computing Environment

Analytical dynamic model of 3-DOF spherical parallel manipulators is established based on sub-structure method,and a distributed parallel computing environment for dynamic simulation of spherical parallel manipulators is developed based on grid computing technology.In grid computing environment,the dynamic simulation for spherical parallel manipulators was executed with gird nodes by paralled method using analytical dynamic model,therefore the online calculation amount and computing time can be reduced,which is of advantage to real-time control and simulation of manipulators.The numerical examples of analytical code generation for dynamic model matrix elements and simulation calculation are given for illustration.The influence of adjustable parameters on drive forces of actuators for 3-DOF spherical parallel manipulators is studied.