高技术通讯2018，Vol.28Issue(1)：52-57,6.DOI:10.3772/j.issn.1002-0470.2018.01.007
基于关节支反力的移动并联机械手动力学性能验证研究
verification Research on dynamics performance of mobile parallel manipulators based on joint reacting force
摘要
Abstract
A method is proposed to verify the correctness and effectiveness of a mobile parallel manipulator's dynamics modeling and numerical simulation.The method opens the kinematic pair somewhere in the mobile parallel manipu-lator sysem first,then uses the joint reacting force to replace the restraint of kinematic pair to form the mobile dual series manipulator,and under the guidance of the multi-body dynamics theory,models mobile parallel and double series manipulators in the Cartesian coordinate system,and uses the initial value method to perform the numerical simulations for the mobile double series manipulator system.At last,the correctness and effectiveness of the system dynamics modeling and numerical simulation are verified by the comparison of the dynamics simulations of the mo -bile parallel and double series manipulators.关键词
移动并联机械手/移动双串联机械手/多体动力学建模/加权初值法/数值仿真Key words
mobile parallel manipulator/mobile dual series manipulators/multi-body dynamics modeling/weighted initial value/numerical simulation引用本文复制引用
杨玉维,周海波,李彬,赵新华,刘凉,赵磊..基于关节支反力的移动并联机械手动力学性能验证研究[J].高技术通讯,2018,28(1):52-57,6.基金项目
天津市科技重大专项(16ZXZNGX00070,15ZXZNGX00040,16ZXZNGX00010),天津市自然科学基金(17JCZDJC30400)和天津市自然科学基金面上项目(17JCYBJC18300)资助. （16ZXZNGX00070,15ZXZNGX00040,16ZXZNGX00010）
