直线驱动型并联机器人反向动力学分析与验证

摘要

以直线驱动型并联机器人为研究对象,根据其几何结构模型,利用矢量法建立并联机器人的运动学模型,并得到其运动学逆解、速度和加速度模型.利用虚功原理建立反向动力学模型,分析机械系统中各个运动部件在虚位移下对应的广义力,推导出其动力学方程,并确定其影响因素.给定动平台末端一个已知轨迹,反解出各个电机的力矩,分析得出惯性项是力矩的最大影响因素.通过ADAMS与Matlab联合仿真和负载特性试验,验证了动力学理论模型的正确性,为并联机器人的尺寸综合与轨迹规划奠定了理论基础,也为同类并联机器人控制器的研究与开发提供了理论支撑.%Aiming at the question of the dynamic of linear driven parallel robot,based on the geometric structure model of linear driven parallel robot,the kinematics model of linear driven parallel robot was established by using the vector method.The inverse kinematics model,velocity and acceleration model of the linear driven parallel robot was obtained based on the d' Alembert' s form of the principle of virtual work,each actuated torque of the mechanical system moving parts were analyzed with a virture displacement.The dynamic equation was derived and the affecting factors of the linear driven parallel robot was determined.By a given trajectory of the moving platform,the torque of the motors was derived by the back solution,the inertia term which was the most important factor of the torque was analyzed.By a conical spiral trajectory,through the combined simulation model of Matlab and ADAMS with the test of load characteristic,the test curve was compared with the theoretical curve of electrical motors torque,which can verify the correctness of the dynamic theoretical model and the theoretical dynamic equation,which made the foundation of optimization of dimensional synthesis and trajectory planning of linear driven parallel robot and also gave the theoretical support for the research and development of the similar parallel robot.