6-PTRT并联机构动力学简化策略与稳定性优化

发布时间：2017-12-27 22:11

本文关键词：6-PTRT并联机构动力学简化策略与稳定性优化　出处：《机械传动》2016年06期 　论文类型：期刊论文

【摘要】：根据6-PTRT并联机器人机构特点及相关文献,推导出此机器人KANE动力学模型。利用四元数法求出刀具在空间曲面上一条加工轨迹,通过空间轨迹规划,实现对并联机器人6个自由度协同控制,分析并联机器人在中低速和高速加工过程中各运动部件对驱动力的影响,得到动力学模型简化策略,提高了运算效率。分析机构启动时动力学响应曲线产生波动的原因,采用Akima插值法对各支链动力学响应进行优化,得到更为平滑的动力学响应曲线,提高机构运行平稳性,为并联机器人结构设计、轨迹规划及实时控制提供理论依据。
[Abstract]:According to the characteristics of 6-PTRT parallel robot mechanism and related literature, the KANE dynamic model of this robot is derived. Find a tool in space surface processing trajectory by using four element method, the space trajectory planning, implementation of the parallel robot with 6 degrees of freedom collaborative control, analysis of the impact on the driving force of the moving parts of parallel robot in the low-speed and high-speed machining process, get a simplified strategy mechanical model, improve operational efficiency. The dynamic response curve analysis of fluctuation mechanism causes startup, the dynamic response of branched chain was optimized by the Akima interpolation method, get a more smooth dynamic response curve, improve the running stability mechanism for structure design of parallel robot, trajectory planning and real time control and provide a theoretical basis for the.
【作者单位】：辽宁石油化工大学机械工程学院;大连职业技术学院机械工程学院;
【分类号】：TH112
【正文快照】： 0引言近年来,多自由度并联机构以其刚度大、负载高、积累误差小、控制精度高等特点广泛应用于各领域,但并联闭环机构各支链相互耦合程度高,使其动力学研究相对困难[1-3]。利用KANE方程法建立的动力学方程易于用计算机编程,计算步骤少、运行效率高[4-5]。适当简化KANE动力学方

【相似文献】