机械与电子Issue(7)：68-72,76,6.
基于拉格朗日乘子法的 Delta 并联机器人简化刚体动力学建模方法
A Simplified Rigid Body Dynamic Modelling Method of Delta Robot Based on Lagrangian Multiplier Method
摘要
Abstract
Targeting a Delta parallel robot which is widely used for high speed pick and place operation,a novel approximation for simpli-fied rigid body dynamic model based on Lagrangian multiplier method is established.Both of the in-verse kinematic and rigid dynamic model are devel-oped,and the dynamic model is simplified consid-ering the actual situation of the robot.Comparing the calculation results of the dynamic model before and after the simplification with the simulation re-sults show that the simplified rigid model can not only reduce the amount of calculation but also im-prove the accuracy of it.关键词
并联机器人/拉格朗日乘子法/简化刚体动力学模型/逆运动学模型Key words
parallel robot/Lagrangian multi-plier method/simplified rigid body dynamic mod-el/inverse kinematic model分类
信息技术与安全科学引用本文复制引用
王刚,刘延杰,吴明月,韩海军..基于拉格朗日乘子法的 Delta 并联机器人简化刚体动力学建模方法[J].机械与电子,2015,(7):68-72,76,6.基金项目
国家高技术研究发展计划(863)资助项目(2013AA040901) （863）
黑龙江省科研机构创新能力提升专项计划项目(YC13D004) （YC13D004）
