基于拉格朗日乘子法的 Delta 并联机器人简化刚体动力学建模方法

摘要

Targeting a Delta parallel robot which is widely used for high speed pick and place operation,a novel approximation for simpli-fied rigid body dynamic model based on Lagrangian multiplier method is established.Both of the in-verse kinematic and rigid dynamic model are devel-oped,and the dynamic model is simplified consid-ering the actual situation of the robot.Comparing the calculation results of the dynamic model before and after the simplification with the simulation re-sults show that the simplified rigid model can not only reduce the amount of calculation but also im-prove the accuracy of it.%针对广泛应用于高速抓放操作的 Delta并联机器人，提出了一种基于拉格朗日乘子法的刚体动力学建模方法，并利用约束方程的全微分求解出了动力学模型的显示表达式。建立了机器人的逆运动学以及刚体动力学模型，考虑机器人从动臂臂杆为轻质碳纤维杆，两端为较重的金属附件的特点，建立了简化刚体动力学模型。并针对机器人常用的高速抓放轨迹进行仿真，将简化前后的2种动力学模型与 ADAMS 仿真结果进行对比。