• CN:11-2187/TH
  • ISSN:0577-6686

›› 2005, Vol. 41 ›› Issue (5): 104-107.

• 论文 • 上一篇    下一篇

空间并联机构运动学与动力学逆解的模块化计算方法

杨建新;汪劲松;郁鼎文   

  1. 清华大学精密仪器系
  • 发布日期:2005-05-15

MODULAR COMPUTATION METHOD FOR INVERSE KINEMATICS AND DYNAMICS OF SPATIAL PARALLEL MANIPULATOR

Yang Jianxin;Wang Jinsong;Yu Dingwen   

  1. Department of Precision, Tsinghua University
  • Published:2005-05-15

摘要: 应用模块化计算方法研究了空间并联机构的运动学与动力学逆解,计算效率能够满足实时控制的要求。通过对各类支链运动学及动力学逆解的分析,应用牛顿—欧拉法并引入拉格朗日乘子建立了空间并联机构的动力学逆解模型,提出了空间并联机构运动学与动力学逆解模块化计算软件的系统构架。结果表明该方法适用于各类非冗余空间并联机构的运动学与动力学逆解的自动建模和可重构设计,并给出了一种新型并联机构的分析实例。

关键词: 并联机构, 动力学, 运动学

Abstract: A modular computation method for inverse kinematics and dynamics of spatial parallel manipulator is investigated. It improves the calculation efficiency so that real-time control can be realized. Based on the analytic kinematic and dynamic solutions of chains, the inverse dynamic models of spatial parallel manipulator are established using the Newton—Euler approach and Lagrange multiplier. A software architecture for the inverse kinematics and dynamics of spatial parallel manipulator is presented. The results show that the method can be used for the automatic generation of inverse kinematic and dynamic solutions and reconfiguration design of non-redundant spatial parallel manipulator. As an illustration, a novel parallel manipulator is analyzed using this method.

Key words: Dynamics, Kinematics, Parallel manipulator

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