| 平面五杆并联机器人动力学分析 |
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| 引用本文： | 陈美钰,辛洪兵.平面五杆并联机器人动力学分析[J].北京轻工业学院学报,2009(6):7-10. |
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| 作者姓名： | 陈美钰 辛洪兵 |
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| 作者单位： | 北京工商大学机械工程学院,北京100048 |
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| 基金项目： | 北京市自然科学基金资助项目（3082005） |
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| 摘 要： | 用拉格朗日法推导出平面五杆并联机器人的动力学模型,得出驱动力矩的表达式.通过对平面五杆并联机器人模型的分析,得出了平面五杆并联机器人的主动关节等效惯量、耦合惯量和驱动力矩的变化规律.结果表明,对于给定的运动规律,机构的位形对系统的主动关节等效惯量、耦合惯量和驱动力矩的影响较大.
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| 关 键 词： | 平面五杆机构 并联机器人 动力学 |
DYNAMICS ANALYSIS OF PLANAR FIVE-BAR PARALLEL ROBOT |
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| CHEN Mei-yu,XIN Hong-bing.DYNAMICS ANALYSIS OF PLANAR FIVE-BAR PARALLEL ROBOT[J].Journal of Beijing Institute of Light Industry,2009(6):7-10. |
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| Authors: | CHEN Mei-yu XIN Hong-bing |
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| Affiliation: | (College of Mechanical Engineering,Beijing Technology and Business University,Beijing 100048,China) |
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| Abstract: | This paper presented the dynamics equations of planar five-bar parallel robot based on the Lagrange equation,and obtained expression of driving torques.The equivalent inertia,coupling inertia and driving torques of the active joints of mechanism were analyzed through the existing model.The results show that,for a given motion,the configuration has a significant influence on the equivalent inertia,coupling inertia and driving torques. |
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| Keywords: | planar five-bar mechanism parallel robot dynamics |
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