机械科学与技术2018，Vol.37Issue(3)：329-336,8.DOI:10.13433/j.cnki.1003-8728.2018.0301
Delta并联机械手刚体动力学模型简化方法
Simplified Method for Rigid Body Dynamic Models of Delta Parallel Manipulator
摘要
Abstract
A complete rigid body dynamic models is established based on the virtual work principle,and the components of the dynamic models,i.e.the inertia moment term,the inertial force term and gravity term,are classified.After analyzing the slave arm movements on the contribution of the components of the manipulator torques,a simplified strategy for the rigid body dynamic models based on combinatorial mass distribution coefficients is presented;The degree of approximation between the simplified and complete models is introduced as an optimization objective,and an optimization index for minimizing the torque deviations between the two models during the motion of the manipulator is formulated in order to determine the combinatorial mass distribution coefficients;Based on the simplified method and considering the length and movement trajectory parameters of the manipulator,simulation of the parameters influence on the accuracy of the simplified models is implemented with the multi-factor analysis method,and the results show that the simplified models has higher computation speed and accuracy for different the length and movement trajectory parameters.关键词
并联机械手/简化刚体动力学模型/组合分配系数Key words
delta parallel manipulator/simplified rigid body dynamic models/combinatorial mass distribution coefficient分类
机械制造引用本文复制引用
梅江平,贺莹,臧家炜,谢胜龙,乔正宇,李金和..Delta并联机械手刚体动力学模型简化方法[J].机械科学与技术,2018,37(3):329-336,8.基金项目
国家自然科学基金项目(51475320)资助 （51475320）
