平面宏动并联机器人动态模拟

被引：7

作者：

高名旺 ^{[1
,2
]}

张宪民 ^{[1
]}

机构：

[1] 华南理工大学广东省精密装备与制造技术重点实验室

[2] 山东理工大学机械工程学院

来源：

农业机械学报 | 2012年 / 43卷 / 08期

基金：

广东省高等学校珠江学者岗位计划资助项目; 中央高校基本科研业务费专项资金资助;

关键词：

宏动并联机器人; 虚功原理; 滑模控制; 动力学模型;

D O I：

暂无

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

针对宏微结合的宏动并联机器人建立了动力学模型,实现基于模型的滑模控制及仿真。首先,根据机构闭式约束等式,分析机构的逆位置和正位置,同时推导了机构的速度和加速度关系式。在此基础上,选择各杆件的关键点,建立各关键点的偏速度和偏角速度,利用Newton-Euler公式分析各杆件的惯性力和惯性力矩,考虑了微动平台对宏动机器人运动的作用,根据虚功原理建立了动力学方程。最后,应用动态补偿策略,设计了滑模控制器。仿真结果表明了方法的有效性。

引用

页码：205 / 209+214 +214

页数：6

共 12 条

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