应用Lagrange乘子法研究了一种二移动自由度并联操作臂的动力学问题,该方法可避免关节空间与操作空间的坐标变换,计算效率能够满足实时控制要求。描述了这种具有高刚度、高灵活性和结构模块化强的操作臂结构,求出了它的位置、速度、加速度和Jacobian矩阵的表达式;建立了带有广义坐标变量的系统动力学模型,按照给出的运动轨迹和操作臂质量、加速度等参数进行了动力学仿真,其结果揭示了关节驱动力与上述参数间的内在联系。 Lagrange multiplier method is used to study the dynamics of a two-arm DOF parallel manipulator. The method can avoid the coordinate transformation of the joint space and the operation space, and the computational efficiency can meet the real-time control requirements. The structure of the manipulator with high rigidity, high flexibility and strong modularity is described. Its position, velocity, acceleration and Jacobian matrix expression are obtained. The system dynamics model with generalized coordinate variables According to the given trajectories and operating arm mass, acceleration and other parameters of the dynamic simulation, the results reveal the joint driving force and the intrinsic relationship between the above parameters.