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柔性并联机器人的动力规划

Dynamic Planning of the Flexible Parallel Manipulator
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摘要 讨论了柔性并联机器人的动力学规划问题。首先,对柔性并联机器人的运动学进行了分析。其次,提出了以驱动力矩最小为规划目标的数学模型。最后,进行了柔性并联机构动力规划的算例分析。结果显示,进行柔性并联机器人的动力规划,可以显著减少系统的驱动力矩波动和大小。可为柔性并联机构的动力学特性分析、控制和实际工程应用等提供必要信息。 The dynamic planning of the flexible parallel manipulators is discussed. Firstly the kinematics of the flexible parallel manipulator is analyzed. Secondly, the mathematical model of driving torque minimum was develop- ment. Finally, the dynamic planning of flexible parallel manipulator is analyzed through a numerical simulation. The results of numerical simulation show that the dynamic planning is applied to decrease the fluctuation of driving torques of the flexible parallel manipulator. The necessary information for dynamics performance analysis, control and engi- neering application of the flexible parallel manipulators is provided.
作者 丁明 刘善增
机构地区 徐州工程学院 中国矿业大学机电学院
出处 《机械传动》 CSCD 北大核心 2013年第12期27-30,共4页 Journal of Mechanical Transmission
基金 中央高校基本科研业务费专项资金资助(No.2010QNA26) 中国博士后科学基金面上资助项目(No.20100481178)
关键词 柔性 并联机器人 驱动力矩 动力规划 Flexible Parallel manipulator Driving torque Dynamic planning
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献5

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二级参考文献20

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机械传动
2013年 第12期

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