六自由度并行机器人动力学模型及仿真

采用一种广泛应用于串行机器人动力学建模的方法──自然正交补（ＮＯＣ）法， 结合ｄ’Ａｌｅｍｂｅｒｔ虚功原理，推导出了不含约束力的六自由度并行机器人动力学模 型，并将它写成机器人动力学模型的一般形式，从而证明了在广义力对应的广义坐 标下，其惯性阵是对称、正定的。以此模型为基础，对一个典型运动进行了动力学仿 真，仿真结果验证了此模型的有效性。

6-DOF Parallel Manipulator Dynamic Model and Simulation

The method of Natural Orthogonal Complement (NOC) widely used in serial manipulator's modeling is applied in parallel manipulator's dynamics modeling. Multiplying Newton-Euler equation by NOC matrix, the inertia vector of 6-DOF parallel manipulator is gotten. Substituting the inertia vector into principe of d' Alembert, a 6-DOF parallel manipulator dynamic model which do not contain the constraining force is obtained and rewritten to the general form of manipulator dynamic model. In this model, the wrench of whole system can be presented by the wrench of endeffector. So the simulation can be processed directly in the Cartesian coordinates, avoiding the complex problem of direct kinematics. Finally, an experiment of trajectory tracing control is given to illustrate that because this dynamic model is free of constraining force, so it is convenient and effective for model-based control.