为使机器人具有良好的结构性能和工作性能,其结构系统必须具有良好的动力学特性.针对动力学特性问题,以ADAMS仿真软件为平台建立了简化的二自由度冗余驱动并联机器人模型,求出了运动学逆解,采用冗余驱动力控制电机的方法,完成了动力学仿真.结果表明该方法能减小驱动力变化范围和降低驱动力峰值,优化电机驱动力,提高并联机器人的驱动性能.研究所得的方法和结论具有较强的通用性,对相关冗余驱动并联机器人的动力学研究具有普遍的应用意义,同时为并联机器人的调试与控制提供了理论依据.%To make sure that the robots have good structure performance and work performance, good dynamics characteristics must be included in the structure system. As for the issue of dynamics characteristics, simplified 2-DOF redundantly actuated parallel robot model was established in the platform of ADAMS simulation software. The inverse kinematics were solved, using the method of redundant driving force to control electrical machine. At last the dynamics simulation was accomplished. The result indicated that in the driving force optimization process, the change extent and the peak value of each driving force decreased, the driving force of electrical machine was optimized and the driving function of parallel robot was improved effectively. The proposed methods and results have strong generality and broad prospect in application of the study on related redundantly actuated parallel robot, also provided the theory basis for the debugging and control of parallel robot.
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