Dynamic Analysis of Two Kinds of the Parallel Mechanisms with Two-DOF on the Plane Sprayer
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摘要: 提出了两种可用作平面喷涂机执行机构的二自由度并联机构,采用拉格朗日法建立了两机构的动力学模型,推导了机构动力学方程;运用Matlab软件仿真得出两机构末端执行点(可作为喷枪位置)沿圆和椭圆轨迹运动时机构主动构件驱动力的变化规律。
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关键词:
- 喷涂机 /
- 并联机构 /
- 动力学分析 /
- Lagrange方程
Abstract: In this paper, two kinds of 2-DOF parallel mechanisms are proposed to use as the actuator for plane sprayer. The dynamic equation of two mechanisms based on the Lagrange equation is derived, the two mechanisms on the terminal operating point (spray gun position) which do the circular and elliptical trajectory are simulated by using Matlab, the variation of driving force of mechanism active member were obtained. The present results provide the reference value for the selection and synthesis and control strategy of mechanism.-
Key words:
- sprayer /
- parallel mechanism /
- dynamic analysis /
- lagrange equation
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[1] 张永贵.喷漆机器人若干关键技术研究[D].西安:西安理工大学,2008 [2] Zhuang H,Yah J,Masory O.Calibration of stewart platforms andother parallel manipulators by minimizing inverse kinematic residu-als[J].Journal of Robotic Systems,1998,15(7) [3] 荣辉,曹红波,丁洪生等.并联机床动力学研究进展[J].机床与液压,2005,(1):9～11 [4] 李艳.二自由度冗余驱动并联机器人的动力学建模及控制研究[D].山东大学,2010 [5] 杨义勇,金德闻.机械系统动力学[M].北方:清华大学出版社,2009:8～34 -
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