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本文研究了6自由度并联机器人机构的显式动力学方程的建立。文中首先导出了构件6维惯性力矢关于主动副速度、加速度的显表达式,引入了仅与机构位形和质量分布有关的一、二阶惯性影响系数,进而应用达朗伯原理方便地建立起6自由度并联机器人的显式动力学方程。最后进行了实例计算。
In this paper, the establishment of an explicit dynamical equation for a 6-DOF parallel robot mechanism is studied. In this paper, the expression of 6-D inertial force vector about the active secondary velocity and acceleration is first derived. The first and second order inertial coefficients of influence, which are only related to the position and mass distribution of the mechanism, are introduced, and then the Darlene principle is easily established Explicit dynamics equations for 6-DOF parallel robots. Finally, an example calculation.