光学精密工程2012，Vol.20Issue(9)：1974-1983,10.DOI:10.3788/OPE.20122009.1974
3-DOF并联机械腿动力学建模与伺服电机峰值预估
Dynamic modeling of 3-DOF parallel mechanical leg and peak prediction of servo motor
摘要
Abstract
A 3-DOF mechanical leg with compact structure, strong carrying capacity and the rotational motion in decoupled was proposed. To analyze the drive parameters of the 3-DOF parallel mechanical leg, a dynamic model was established and the peak of a servo motor was predicted based on the dynamic model. Firstly, by analyzing the motion parameters of the leg mechanism, the dynamic model was established based on the Lagrange equation, and the drive force acted on the mechanism was given. Then, based on the dynamic model, a peak prediction model of the servo motor for the drive speed and torque was defined. Finally, for a given motion equation and a set of structural parameters, the time curves of drive speed and torque were obtained, the dynamics of the mechanism was given and the peak prediction model was proved to be correct. Calculations show that the peaks of the drive speeds from three driving motors are 19, 17, 27 r/s for Nx , Ny and Nw ,and the peaks of the drive torque are 5.8, 3.1, 4. 4 N ? m for es , ey and eTO respectively.关键词
并联机械腿/伺服电机/动力学分析/Lagrange方程/峰值预估模型Key words
parallel mechanical leg/ servo motor/ dynamic analysis/ Lagrange equation/ peak prediction model分类
信息技术与安全科学引用本文复制引用
荣誉,金振林..3-DOF并联机械腿动力学建模与伺服电机峰值预估[J].光学精密工程,2012,20(9):1974-1983,10.基金项目
机械系统与振动国家重点实验室开放课题基金资助项目(No.MSV-2012-10) （No.MSV-2012-10）
秦皇岛市科技支撑计划资助项目(No.201101A028) （No.201101A028）
