基于凯恩方法的三自由度Delta并联机器人动力学建模.docxVIP

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基于凯恩方法的三自由度Delta并联机器人动力学建模

刘国军

（湖南理工学院机械学院，湖南岳阳414006）

摘要：Delta并联机器人被广泛用于小物品的高速拣选和包装等。为了得到优良的性能，控制系统设计和机械结构设计时需要考虑动力学模型的影响。文中利用凯恩方程对三自由度Delta并联机器人建立了动力学反解模型。文中建立的动力学模型结构紧凑。在整个建模过程中，只是用到了动平台的位置、速度、角速度参数和主动转动副转角、角速度及角加速度，不需要求出被动臂（即空间平行四边形机构）的位姿参数、（角）速度和（角）加速度。

关键词：三自由度并联机器人；Delta机器人；动力学建模；凯恩方程

中图分类号:TP242 文献标志码:粤 文章编号：员园园圆原圆猿猿猿（圆园21）07原园004原园5

DynamicModellingofaThree-degree-of-freedomDeltaParallelRobotBasedonKane’sMethod

LIUGuojun

（SchoolofMechanicalEngineering,HunanInstituteofScienceandTechnology,Yueyang414006,China）

Abstract:Deltaparallelrobotsarewidelyusedforhigh-speedpickingandpackagingofsmallgoods.Inordertoobtainexcellentperformance,theinfluenceofdynamicmodelisneededtobeconsideredwhendesigningcontrolsystemandmechanicalstructureoftheDeltaparallelrobot.ThispaperusestheKaneequationtoestablishadynamicinversemodelforthethree-degree-of-freedomDeltaparallelrobot.Thedynamicmodeliscompact.Inthemodelingprocess,onlytheposition,velocityandangularvelocityparamet