新型三平移并联机器人主动副等效干扰力矩分析

新型三平移并联机器人具有较高的实用价值。基于其位置分析及动力学分析，求解了该机器人动平台在各种平移运动时各支路主动副主要等效干扰力矩，并通过Matlab仿真，给出了分析结果。仿真表明，其主要等效干扰力矩的计算量远远小于直接采用动力学方程关系的计算量，因此可用于各支路主动关节的实时控制。克服了各支路分别单独控制时一般难以预先考虑其他支路干扰作用的缺陷，从而为实现该并联机器人的高精度实时控制奠定了基础。

Analysis of the Disturbance Torques on Active Jointsof a Novel 3-DOF Translational Parallel Robot

A novel 3-DOF translational parallel robot mechanism is receiving increasing attention for having simple structure and having potential to find practical applications. The main disturbance torques on active joints of the above robot when the moving platform moves were analyzed based on its position analysis and dynamic analysis. The results were provided by Matlab simulation. It is shown from the simulation that the computing time of the main disturbance torques is much less than that using directly dynamics relationship. Thus,the proposed method and the results may be used in the real time control of the active joints of the parallel robot,may overcome the difficulties of considering the disturbances of the other subchains when each subchain is controlled respectively and may provide a base for implementing the high-accuracy control of the parallel robot.