胡俊峰,张宪民,朱大昌,陈强.柔性并联机器人动力学建模[J].农业机械学报,2011,42(11):208-213.
Hu Junfeng,Zhang Xianmin,Zhu Dachang,Chen Qiang.Dynamic Modeling of Flexible Parallel Robot[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(11):208-213.
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柔性并联机器人动力学建模   [下载全文]
Dynamic Modeling of Flexible Parallel Robot   [Download Pdf][in English]
  
DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]
中文关键词:  柔性并联机器人  弹性动力学  有限元法  动力学建模  模态综合法
基金项目:国家自然科学基金资助项目(50965007);国家杰出青年基金资助项目(50825504)
作者单位
胡俊峰 江西理工大学 
张宪民 华南理工大学 
朱大昌 江西理工大学
华南理工大学 
陈强 江西理工大学 
中文摘要:针对一般柔性并联机器人动力学模型,提出了一种精确而简单的动力学建模方法。根据并联机器人结构特点,将其划分为若个刚性子结构和弹性子结构,形成一个刚柔结合的系统。静平台和动平台相对其他构件变形较小,将它们作为刚性子结构,各个支链作为弹性子结构。分别建立各子结构的动力学方程,弹性子结构采用有限元法和模态综合法建立其动力学方程;考虑各个柔性支链弹性变形对刚性子结构的影响,建立刚性子结构动力学方程;推导出相邻的刚性子结构和弹性子结构之间的几何约束关系。通过相邻子结构的协调矩阵,将各个子结构的方程进行装配形成系统的弹性动力学方程。通过一种高速并联机械手的动力学特性比较分析,表明该方法的正确性和可行性。由于引入刚性子结构和采用了模态综合法,减少了系统自由度数,从而简化了计算模型,为柔性并联机器人提供一种实用的建模方法。
Hu Junfeng  Zhang Xianmin  Zhu Dachang  Chen Qiang
Jiangxi University of Science and Technology;South China University of Technology;Jiangxi University of Science and Technology;South China University of Technology;Jiangxi University of Science and Technology
Key Words:Flexible parallel robot  Elastic dynamic  Finite element method  Dynamic modeling  Mode synthesis method
Abstract:An accurate and simple method for dynamic modeling of general flexible parallel robot was proposed. According to the structural character of the parallel robot, it was devided into rigid sub-structure and elastic sub-structure, and the rigid-flexible coupling system was formed. The static platform and mobile platform were treated as rigid sub-structure because its deformations were smaller compared to the other part. The chains were treated as flexible sub-structure. The dynamic equations of each sub-structure were obtained, respectively. The dynamic equations of elastic sub-structure were obtained by using the finite element method and mode synthesis method. The dynamic equations of rigid sub-structure were built accounting for the effects of deformation of flexible sub-structure. The geometrical constraint relationship between three flexible sub-structures and the rigid platform was investigated to obtain a simple displacement and dynamic relation between them. The equations of all sub-structure were assembled to get the system dynamic equations. The comparative analysis of dynamic characteristics of a high-speed parallel manipulator show that the method is correct and feasible. Due to introducing the rigid sub-structure and application of the mode synthesis, the number of system freedom was reduced and the computational modeling was simplified. It provided a practical method for flexible parallel robot.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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