电动6-SPU型并联机器人的整体动力学模型

为了对电动并联机器人进行特性分析和性能预测,以永磁同步电机(PMSM)驱动6-SPU型并联机器人为例,提出一种精确整体动力学建模思想.电动并联机器人电机系统除存在随支腿的转动,转子及丝杆还存在绕自身轴线的旋转.针对这两部分运动很难单纯通过多刚体动力学或PMSM动力学来分析的问题,采用多刚体动力学来考虑第一种运动,PMSM动力学来考虑第二种运动,并建立电动并联机器人的精确整体动力学模型.该模型避免了负载折算到电机端时变等效惯量的计算,并将电机系统反电动势、粘性摩擦力考虑在内.以1Hz正弦位姿指令对并联机器人进行仿真分析,验证了模型的正确性.

Integrated dynamics model of electrical 6-SPU parallel robot

A precise integrated dynamics modeling idea is presented to carry out the characteristics analysis and performance prediction of electrical parallel robots using a 6-SPU parallel robot driven by permanent magnet synchronous motor(PMSM) as an example.Motor systems in the electrical parallel robot move with legs,and meanwhile rotors and snails go around the axis of themselves.The first kind of movement is analyzed through multi-body dynamics and the second is analyzed through PMSM dynamics,and then an integrated dynamics model is established.The model avoids the calculation of time-varying equivalent inertia of each motor,and takes the influence of counter EMF and the motor friction into account.Finally,the simulation analysis is performed on a parallel robot using 1 Hz sinusoidal signal,and results verify the feasibility of the model,which can settle the foundation for further physical realization.