Vector Bond Graph Method of Kineto- static Analysis for 3SPS + 1PS Paralell Robot

Wang Zhongshuang; Tao Yangyang; Liu Shang; Chen Ji

doi:10.16578/j.issn.1004.2539.2015.07.003

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Vector Bond Graph Method of Kineto- static Analysis for 3SPS + 1PS Paralell Robot

更新时间：2022-10-20

- Vector Bond Graph Method of Kineto- static Analysis for 3SPS + 1PS Paralell Robot
- Vol. 39, Issue 7, Pages: 11-15(2015)
- 作者机构：
  
  1. 齐齐哈尔大学机电学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.07.003
  CLC：
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[1]王中双,陶洋洋,刘尚,陈集.3SPS+1PS型并联机器人动态静力分析向量键合图法[J].机械传动,2015,39(07):11-15.

Wang Zhongshuang, Tao Yangyang, Liu Shang, et al. Vector Bond Graph Method of Kineto- static Analysis for 3SPS + 1PS Paralell Robot. [J]. 39(7):11-15(2015)
[1]王中双,陶洋洋,刘尚,陈集.3SPS+1PS型并联机器人动态静力分析向量键合图法[J].机械传动,2015,39(07):11-15. DOI： 10.16578/j.issn.1004.2539.2015.07.003.

Wang Zhongshuang, Tao Yangyang, Liu Shang, et al. Vector Bond Graph Method of Kineto- static Analysis for 3SPS + 1PS Paralell Robot. [J]. 39(7):11-15(2015) DOI： 10.16578/j.issn.1004.2539.2015.07.003.

摘要

为提高复杂空间机器人系统动态静力分析的效率及可靠性,提出了相应的向量键合图法。根据运动约束条件,建立了空间球铰及棱柱铰的向量键合图模型。在此基础上,建立了3SPS+1PS型并联机器人向量键合图模型。针对微分因果关系及非线性结型结构给空间机器人机构自动建模与动态静力分析所带来的代数困难,提出了有效的增广方法。应用相应的算法,实现了3SPS+1PS型并联机器人系统计算机自动建模与动态静力分析,由此说明了所述方法的有效性。

Abstract

In order to increase the reliability and efficiency of the kineto- static analysis of complex space robot systems,the corresponding vector bond graph method is proposed. From the kinematic constraint condition,the vector bond graph models of spherical joint and prismatic joint are built. Based on this,the vector bond graph model of 3PS + 1PS parallel robot is established. For the algebraic difficulties brought by differential causality and nonlinear junction structure in automatic modeling and kineto- static analysis of spatial robot mechanism,the effective bond graph augment method is proposed. By the corresponding algorithm,the automatic modeling and kineto- static analysis of 3PS + 1PS parallel robot system on a computer is realized,its validity is illustrated.

关键词

并联机器人动态静力分析向量键合图因果关系键合图增广铰约束

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College of Mechanical Engineering,University of Shanghai for Science and Technology

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