Screw Bond Graph in the Application of the Parallel Mechanism Dynamics Modeling

doi:10.3901/JME.2015.23.012

Abstract

Abstract: Screw bond graph combines screw theory with bond graph. It has characteristics of screw theory and bond graph which are simple and intuitive to describe the spatial mechanism, and unified and standard to build the multi-energy domain model. Dynamic models of bodies and kinematic pairs are built by screw bond graph, and then modularized. By using the modules, the spatial parallel mechanism model can be established and the state-space equations which are suitable for modern control theory can be obtained. The slider-crank mechanism and spatial 3-UPS/S parallel mechanism are taken as examples. By using the above method, it is given that the dynamic modelling process of the spatial parallel mechanism which is common and regularization. The motion rules of driving and constraining force under the states motion of uniform and accelerated are analyzed, which lays the foundation for building global dynamics model of the robot system and subsequent control research.

Key words: dynamics, screw bond graph, spatial parallel mechanism, state-space equations

GUO Fei, LI Yongquan, SONG Zhaojing, ZHANG Lijie. Screw Bond Graph in the Application of the Parallel Mechanism Dynamics Modeling[J]. Journal of Mechanical Engineering, 2015, 51(23): 12-20.

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