\r宋轶民¹，金雪莹¹，梁 栋²，孙 涛¹

AuthorsHTML:\r宋轶民¹，金雪莹¹，梁 栋²，孙 涛¹

AuthorsListE:\rSong Yimin¹，Jin Xueying ¹，Liang Dong ²，Sun Tao¹


AuthorsHTMLE:\rSong Yimin¹，Jin Xueying ¹，Liang Dong ²，Sun Tao¹


Unit:\r1. 天津大学机构理论与装备设计教育部重点实验室，天津 300354；
2. 天津工业大学机械工程学院，天津 300387


Unit_EngLish:\r1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education，Tianjin University，Tianjin 300354，China；
2. School of Mechanical Engineering，Tianjin Polytechnic University，Tianjin 300387，China


Abstract_Chinese:\r研究了冗余驱动平面4-RRR 并联机构与非冗余驱动平面3-RRR 并联机构的刚体动力学建模及其性能比较.首先，从运动学角度出发，推导了两种机构的运动学逆解模型. 其次，基于Kane 方程和多体理论，提出了一种模块化建模方法. 该方法简捷、高效，可有效简化动力学建模过程，并可获得结构紧凑的系统动力学模型，对于控制策略的构建极为便利. 最后，在MATLAB 编程环境下，分别从运动学与动力学性能指标、逆刚体动力学仿真等方面对两种机构进行了比较分析，验证了冗余驱动在规避奇异、提升系统动态性能等方面的有效性，为后续基于模型的控制策略设计奠定了理论基础.


Abstract_English:\rIn this study，we compared the rigid body dynamics of 4-RRR and 3-RRR parallel robots. First，we derived inverse kinematics models for both parallel robots. Second，based on the Kane formulation and multibody theory，we developed a modular modeling method，which is concise and efficient to simplify the dynamic modeling process effectively. Using this method，a dynamic system model with a compact format can be achieved，which is very suitable for the construction of a control strategy. Ultimately，using MATLAB software，we performed inverse dynamic simulations and comparatively analyzed the two parallel robots with respect to their kinematic and dynamic performance indices. The results suggest that a redundantly actuated parallel robot can effectively avoid singularities and enhance the dynamic performance of a system compared to one that is non-redundantly actuated. These findings lay a theoretical foundation for the future design of model-based control strategies.


Keyword_Chinese:并联机构；Kane 方程；冗余驱动；动力学


Keywords_English:parallel mechanism；Kane formulation；redundant actuation；dynamics



PDF全文下载地址:http://xbzrb.tju.edu.cn/#/digest?ArticleID=6182