基于牛顿欧拉方法的6PUS 并联机构刚体动力学模型 - 机器人.PDF

26 5 机器人 ROBOT Vol.26, No. 5 2004 9 Sept. , 2004 :2004) 6PUS 1 1 2 2 2 孔令富, 张世辉, 肖文辉, 李成元, 黄 真 ( 1. , 066004; 2. , 066004) : 6PUS . , , DH , , . , 6PUS , , . : ; ; ; : TP24 : B Rigid Body Dynamics Model of the 6PUS Parallel Mechanism Based on NewtonEuler Method 1 1 2 2 2 KONG Lingfu , HANG Shihui , XIAO Wenhui , LI Chengyuan , HUANG hen ( 1. College of Inf or mation Science and Technology, Yanshan Univ ersity , Qinhuangdao 066004, China ; 2. College of M echanical Engineering , Yanshan Univ ersity, Qinhuangdao 066004, China Abstract: The rigidbody dynamics model of the 6PUS parallel mechanism ispresentedbasedon NewtonEuler method. In or der to contain the effect of the gravity and inertia force of all components, a series of coordinates on components are established with DH method. As a result, closedform equations for the inverse kinematics of a single chain are derived, and mapping rela tionships of velocity and acceleration between the mobile platform and the components are given. Then the dynamics model of 6 PUS parallel mechanism is deduced based on the platform, as an example, the driving force curves for circumferential translation are presented. This paper establishes the basis for dynamics analysis of mechanism of this type. Keywords: New tonEuler method; parallel mechanism; dynamics; kinematics (Introduction) . , ,