农业机械学报2013，Vol.44Issue(1)：236-243,8.DOI:10.6041/j.issn.1000-1298.2013.01.044
五自由度并联机器人机构动力学模型
Dynamics Model of 5-DOF Parallel Robot Mechanism
摘要
Abstract
A 4 - UPS - UPU spatial 5-DOF parallel robot mechanism was introduced. A dynamics model of 4 - UPS - UPU was presented. The kinematics of the UPS and UPU chain of leg was analyzed and the velocity mapping relationships between the parts and the driving axis were established. The exterior force load and the equivalent driving force were educed. The dynamics model of 4 - UPS - UPU parallel robot mechanism was educed by the virtual work principle approach, which was the foundation of the dynamic analysis. Combined with engineering application examples, numerical verification and virtual simulation verification of the results of driving force and constraining torque was carried out.关键词
并联机构/动力学模型/五自由度/虚功原理Key words
Parallel mechanism Dynamics model 5-DOF Virtual work principle分类
信息技术与安全科学引用本文复制引用
陈修龙,冯伟明,赵永生..五自由度并联机器人机构动力学模型[J].农业机械学报,2013,44(1):236-243,8.基金项目
国家自然科学基金资助项目(51005138)、山东省优秀中青年科学家科研奖励基金资助项目(BS2012ZZ008)、山东科技大学杰出青年基金资助项目(2011KYJQ102)和山东科技大学研究生创新基金资助项目(YCA120329) （51005138）
