哈尔滨工程大学学报2009，Vol.30Issue(10)：1146-1151,6.DOI:10.3969/j.issn.1006-7043.2009.10.012
6-HTRT并联机器人动力学分析
Dynamics analysis of 6-HTRT parallel robots
摘要
Abstract
The equivalent finite element integrate method (EFEIM) is a normative and efficient modeling method for dynamic analysis of complex mechanisms. The key when establishing dynamic equations of spatial mechanisms is to confirm the corresponding second and third order conversion tensors related to the generalized coordinates and the moving joints and nodes of the system. To analyze the complex motion relationships of all components in a 6－HTRT parallel robot, this paper used EFEIM to derive second and third order conversion tensors of the dynamic equations. The method is suitable for solving motion problems with this type of robot in different positions in a work space and for different scales of mechanisms. The process used is simple and convenient.关键词
并联机器人/动力学模型/等效元素集成法/转换张量Key words
parallel robot/ dynamics model/ equivalent finite element integrate method (EFEIM)/ conversion tensor分类
机械制造引用本文复制引用
车仁炜,陆念力,胡长胜..6-HTRT并联机器人动力学分析[J].哈尔滨工程大学学报,2009,30(10):1146-1151,6.基金项目
黑龙江省自然科学基金资助项目(F-2004). （F-2004）
