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文章基于Lagrange方程导出了3-RR并联机器人的动力学方程,分析了此并联机器人的动力学特性。通过算例讨论了3-RR并联机器人的等效转动惯量、驱动力/力矩和能耗的变化规律。本文的研究内容可为3-RR并联机器人的动态性能分析、机构优化设计、系统控制等实际应用提供有益指导。
Based on the Lagrange equation, the kinetic equations of the 3-RR parallel robot are derived and the dynamics characteristics of this parallel robot are analyzed. The equivalent law of inertia, driving force / moment and energy consumption of 3-RR parallel robot are discussed by means of an example. The research content of this paper can provide useful guidance for the practical application of 3-RR parallel robot in dynamic performance analysis, mechanism optimization design and system control.