基于关节支反力的移动并联机械手动力学性能验证研究

摘要

提出一种用于验证移动并联机械手动力学建模及数值仿真正确性与有效性的方法.该方法先将移动并联系统某处运动副打开,用关节支反力替代运动副约束,从而形成移动双串联机械手,并以多体动力学理论为指导,在笛卡尔坐标系下分别进行移动并联、双串联机械手动力学建模,采用加权初值法对移动双串联机械手系统进行数值仿真.最后通过对移动并联、双串联机械手动力学数值仿真比较,验证系统动力学模型构建和数值仿真的正确性和有效性.%A method is proposed to verify the correctness and effectiveness of a mobile parallel manipulator's dynamics modeling and numerical simulation.The method opens the kinematic pair somewhere in the mobile parallel manipu-lator sysem first,then uses the joint reacting force to replace the restraint of kinematic pair to form the mobile dual series manipulator,and under the guidance of the multi-body dynamics theory,models mobile parallel and double series manipulators in the Cartesian coordinate system,and uses the initial value method to perform the numerical simulations for the mobile double series manipulator system.At last,the correctness and effectiveness of the system dynamics modeling and numerical simulation are verified by the comparison of the dynamics simulations of the mo -bile parallel and double series manipulators.