高技术通讯2017，Vol.27Issue(7)：633-637,5.DOI:10.3772/j.issn.1002-0470.2017.07.007
基于正、逆动力学的移动悬架并联机械手动力学建模有效性研究
Study on the validity of dynamics modeling of a mobile suspension parallel manipulator based on positive and inverse kinetics
摘要
Abstract
Guided by the theory of multi-body dynamics, the positive and inverse kinematics models of a mobile suspen-sion parallel manipulator system as well as its positive and inverse dynamics models are established in the Cartesian coordinate system, and based on the models, the numerical simulation method is used to solve the system' s inverse dynamics model, and then, by taking the partial solutions as the inputs and the boundary conditions of the positive kinematics ( model) and the positive dynamics model, the numerical simulaitons are performed.At last, the cor-rectness and effectiveness of the methods for establishing the system' s and solving it are verified by the comparison of the positive dynamics numerical simulation and the inverse dynamics numerical simulation.关键词
多体动力学/正逆动力学建模/数值仿真比较/移动悬架并联机械手Key words
multi-body dynamics/positive and inverse dynamic modeling/numeric simulation comparing/mobile suspension parallel manipulator引用本文复制引用
杨玉维,钟蜀津,李彬,赵新华..基于正、逆动力学的移动悬架并联机械手动力学建模有效性研究[J].高技术通讯,2017,27(7):633-637,5.基金项目
天津市科技重大专项(16ZXZNGX00070,15ZXZNGX00040,16ZXZNGX00010)资助项目. （16ZXZNGX00070,15ZXZNGX00040,16ZXZNGX00010）
