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Delta并联机械手刚体动力学模型简化方法

梅江平 贺莹 臧家炜 谢胜龙 乔正宇 李金和

梅江平, 贺莹, 臧家炜, 谢胜龙, 乔正宇, 李金和. Delta并联机械手刚体动力学模型简化方法[J]. 机械科学与技术, 2018, 37(3): 329-336. doi: 10.13433/j.cnki.1003-8728.2018.0301
引用本文: 梅江平, 贺莹, 臧家炜, 谢胜龙, 乔正宇, 李金和. Delta并联机械手刚体动力学模型简化方法[J]. 机械科学与技术, 2018, 37(3): 329-336. doi: 10.13433/j.cnki.1003-8728.2018.0301
Mei Jiangping, He Ying, Zang Jiawei, Xie Shenglong, Qiao Zhengyu, Li Jinhe. Simplified Method for Rigid Body Dynamic Models of Delta Parallel Manipulator[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(3): 329-336. doi: 10.13433/j.cnki.1003-8728.2018.0301
Citation: Mei Jiangping, He Ying, Zang Jiawei, Xie Shenglong, Qiao Zhengyu, Li Jinhe. Simplified Method for Rigid Body Dynamic Models of Delta Parallel Manipulator[J]. Mechanical Science and Technology for Aerospace Engineering, 2018, 37(3): 329-336. doi: 10.13433/j.cnki.1003-8728.2018.0301

Delta并联机械手刚体动力学模型简化方法

doi: 10.13433/j.cnki.1003-8728.2018.0301
基金项目: 

国家自然科学基金项目(51475320)资助

详细信息
    作者简介:

    梅江平(1969-),副教授,博士生导师,博士,研究方向为机器人控制及自动化生产线,ppm@tju.edu.cn

Simplified Method for Rigid Body Dynamic Models of Delta Parallel Manipulator

  • 摘要: 基于虚功原理建立了机械手的完备刚体动力学模型,并对机械手动力学模型的各组成部分(惯性力矩项、惯性力项和重力项)进行了分类;在分析从动臂的运动对机械手力矩各组成部分贡献的基础上,提出了一种基于组合分配系数的刚体动力学模型简化策略;以简化刚体动力学模型与完备刚体动力学模型逼近度为优化目标,提出一种基于运动过程力矩偏差最小的优化指标,从而确定组合分配系数;基于以上刚体动力学简化方法,从机械手尺度参数与运动轨迹参数两方面因素出发,结合机械手典型运动轨迹,采用多因素分析方法,通过仿真分析了各因素对简化刚体动力学模型准确性的影响,结果表明该刚体动力学模型简化方法针对不同机械手尺度参数与运动轨迹参数均具有较高的计算速度和精度。
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出版历程
  • 收稿日期:  2016-12-15
  • 刊出日期:  2018-03-05

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