哈尔滨工程大学学报2012，Vol.33Issue(1)：100-105,6.DOI:10.3969/j.issn.1007-7043.201011057
Simulink和SimMechanics环境并联机器人动力学建模与分析
Dynamic modeling and analysis of a parallel manipulator using Simulink and SimMechanics
摘要
Abstract
In order to do a sufficient validation and analysis of the dynamic model of a 6-DOF parallel manipulator and improve the efficiency of the dynamic model and analysis, two computer-aided methods for dynamic modelling in a Simulink environment and SimMechanics environment were proposed. The 6-DOF parallel manipulator was de-scribed as a single rigid body using the Kane method to establish the single rigid body dynamic model along with the joint space control law to design a classic proportional-integral-derivative (PID) controller, and the simulation was carried out in Simulink and SimMechanics. The dynamic responses of the 6-DOF parallel manipulator in the two kinds of simulation environment are completely consistent, which proves that both of the two dynamic models using Simulink and SimMechanics are correct. Moreover, the proposed method can also be applied to all mechanical sys-tems for dynamics modelling and analysis.关键词
并联机器人/动力学模型/计算机辅助方法/凯恩方法/单刚体/PID控制器Key words
parallel manipulator/ dynamic model/ computer aided method/ Kane method/ single rigid body/ PID controller分类
信息技术与安全科学引用本文复制引用
王英波,黄其涛,郑书涛,韩俊伟,许宏光..Simulink和SimMechanics环境并联机器人动力学建模与分析[J].哈尔滨工程大学学报,2012,33(1):100-105,6.基金项目
机器人技术与系统国家重点实验室基金资助项目(SKLRS200803B). （SKLRS200803B）
