农业机械学报2012，Vol.43Issue(7)：194-199,205,7.DOI:10.6041/j.issn.1000-1298.2012.07.036
6-PSS柔性并联机器人动力学分析与仿真
Dynamics Analysis and Simulation of 6- PSS Flexible Parallel Robot
摘要
Abstract
In order to improve the safety of the wind tunnel test, the flexible dynamics of a 6 - PSS parallel mechanism for the wind tunnel was analyzed. At first, inverse kinematics of the parallel mechanism was received based on the analysis of its kinematics, and Jacobian matrix was calculated by using the first-order influence coefficient method. Then, the dynamics equation was solved by using the Lagrange equations and a simplified rational dynamics method. A simple and practical method of flexible dynamic simulation was put forward. The flexible dynamic simulation of the parallel was obtained with ADAMS software. The correctness of flexible dynamics simulation was verified by comparing the kinetics and dynamics date form rigid and flexible analysis. At last, the character of flexible kinetics was summed up by analyzing the driven force and flexible deformation data.关键词
并联机器人/柔性动力学/运动学Key words
Parallel robot/ Flexible dynamics/ Kinematics分类
信息技术与安全科学引用本文复制引用
孙小勇,谢志江,蹇开林,张钧..6-PSS柔性并联机器人动力学分析与仿真[J].农业机械学报,2012,43(7):194-199,205,7.基金项目
国家国防基础研究项目(JW20*2009035) （JW20*2009035）
