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为研究并联机器人主动支链间在关节空间内的动力学耦合特性,首先,建立了一般并联机器人基于关节空间的动力学模型,进行了动力学耦合力矩分析,定义了动力学耦合强度系数,该系数适用于一般并联机器人动力学耦合特性描述,且具有统一标度.然后,以一种2(3HUS+S)并联机器人为例,基于动力学耦合强度系数进行了动力学耦合特性分析,得到了动力学耦合特性在所需运动轨迹内的变化规律,并设计实验测得了主动支链的实际耦合力矩,通过对比分析验证了理论研究的正确性.最后,针对2(3HUS+S)并联机器人,得到了其动力学耦合特性随结构参数的变化规律,通过适当减小连接杆长度及动平台半径与底面基座半径的比值,可在一定程度上降低主动支链间的动力学耦合程度.
In order to study the dynamic coupling characteristics of the active branches of parallel robots in the joint space, a kinematic model based on joint space for a general parallel robot was established. Dynamic coupling torque was analyzed and dynamic coupling strength coefficient was defined. The coefficient is suitable for describing the dynamic coupling characteristics of general parallel robots and has a uniform scale.After that, a 2 (3HUS + S) parallel robot is taken as an example to analyze the dynamic coupling characteristics based on the dynamic coupling strength coefficient, And the actual coupling moment of the active branch chain is measured by the design experiment.The correctness of the theoretical research is verified by comparative analysis.Finally, for the 2 (3HUS + S) parallel robot, The dynamic coupling characteristics with the structural parameters were obtained. The dynamic coupling degree between the active branches can be reduced to a certain degree by reducing the length of the connecting rod and the ratio of the radius of the moving platform to the radius of the base.