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并联 6-SPS机器人是一种特殊结构形式的机器人 .通过对其动力学问题进行探讨 ,给出了并联6-SPS机器人系统的动能、惯性张量、惯性力的矩阵表达形式 ,利用动力学普遍方程建立了运动控制方程 ,得到了机构 6个液压缸的驱动力和上平台所受广义力之间的关系式 ,并进行了计算机仿真计算 ,为并联机器人的结构设计和动力控制提供了依据 .该分析方法简明、实用 ,公式形式整齐 ,便于编程计算 .
The parallel 6-SPS robot is a kind of robot with special structure. Through the discussion of its dynamics, the matrix expression of kinetic energy, inertial tensor and inertial force of parallel 6-SPS robot system is given. The equation of motion control is established. The relationship between the driving force of the six hydraulic cylinders and the generalized force on the upper platform is obtained. The computer simulation is carried out to provide the basis for the structural design and dynamic control of the parallel manipulator. The analysis method is concise and practical, the formula is neat and tidy, and it is easy to program and calculate.