Dynamics Analysis and Simulation of a Novel Fully-isotropic Translational Parallel Robot

Zhang Yanbin; Wang Zenghui; He Qiang; Zhao Yifu; Ding Ding

doi:10.16578/j.issn.1004.2539.2017.10.021

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Dynamics Analysis and Simulation of a Novel Fully-isotropic Translational Parallel Robot

更新时间：2022-10-20

- Dynamics Analysis and Simulation of a Novel Fully-isotropic Translational Parallel Robot
- Vol. 41, Issue 10, Pages: 113-118(2017)
- 作者机构：
  
  1. 河南科技大学机电工程学院
  2. 安阳工学院机械学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2017.10.021
  CLC：
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[1]张彦斌,王增辉,何强,赵浥夫,丁丁.新型完全各向同性移动并联机器人的动力学分析与仿真[J].机械传动,2017,41(10):113-118.

Zhang Yanbin, Wang Zenghui, He Qiang, et al. Dynamics Analysis and Simulation of a Novel Fully-isotropic Translational Parallel Robot. [J]. 41(10):113-118(2017)
[1]张彦斌,王增辉,何强,赵浥夫,丁丁.新型完全各向同性移动并联机器人的动力学分析与仿真[J].机械传动,2017,41(10):113-118. DOI： 10.16578/j.issn.1004.2539.2017.10.021.

Zhang Yanbin, Wang Zenghui, He Qiang, et al. Dynamics Analysis and Simulation of a Novel Fully-isotropic Translational Parallel Robot. [J]. 41(10):113-118(2017) DOI： 10.16578/j.issn.1004.2539.2017.10.021.

摘要

提出了一种新型完全各向同性移动并联机器人。首先对该机器人的运动学问题进行了分析,建立其位置、速度和加速度方程;然后以"库伦+黏性"摩擦模型为基础,推导出驱动滑块和球铰所受的摩擦力/力矩方程;在考虑摩擦的情况下,利用牛顿-欧拉法分别建立了驱动滑块、分支运动链和机器人动平台的动力学模型,揭示了分支驱动力和加在动平台上的外力之间的映射关系;最后基于ADAMS软件和MATLAB编程对机器人动力学进行仿真,绘制出驱动滑块所受的驱动力变化曲线,两种仿真结果完全一致,验证了理论分析的正确性和有效性。该机构可用于农业机器人、工业机器人的末端执行机构。

Abstract

A novel fully-isotropic translational parallel robot is presented,which consists of a moving platform connecting with a fixed base by three identical limbs. Firstly,the analysis of kinematical problems of the robot are performed and the equations about position,velocity and acceleration are established. Then the friction forces/torques of the actuated prismatic pairs and the spherical joints are discussed based on the " Coulomb + Viscous" friction model. The dynamics models of the actuated pairs,the kinematical chains and the moving platform are set up respectively by using the Newton-Euler method. The mapping relationship between the driving force of the actuated pairs and the external force applied on the platform is explored. Finally,dynamics simulation of the parallel robot is completed based on ADAMS and MATLAB software and the driving force curves of the actuated joints are given. Simulation results show that the theoretical analysis is correct and effective. The proposed parallel mechanism has widely potential applications in end-effectors of the agricultural robots,industrial robots.

关键词

并联机器人动力学分析摩擦力/力矩仿真分析

Keywords

Parallel mechanismDynamics analysisFriction/friction torqueSimulation and analysis

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