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本文基于牛顿 -欧拉法建立了一类 PSS副、带柔性铰链的六自由度并联微机器人的逆动力学方程 ,这是设计、控制微机器人的前提和基础 .所建模型不仅考虑了因柔性铰链的特殊性 ,微机器人连杆绕自身轴线转动的内部运动 ,还分析了柔性球铰弹性变形产生的反力矩 .由于微机器人机构本体以及逆动力学建模过程中所固有的并联特性 ,对逆动力学可实施并行算法 .最后以一实例进行了仿真分析 ,仿真结果表明微机器人所需驱动力呈线性变化 ,揭示了微机器人在微动情况下的线性本质
In this paper, based on Newton-Euler method, a kind of inverse kinematics equation of PSF secondary and flexible six-DOF robot with flexible hinges is established, which is the premise and foundation of the design and control of micro-robot. The peculiarity of the hinge, the internal motion of the micro-robot connecting rod rotating around its own axis, and the reaction torque generated by the elastic deformation of the flexible ball joint are also analyzed.Because of the parallel characteristics inherent in the micro-robot body and inverse kinematics modeling process, Inverse kinematics can be implemented in parallel algorithm.Finally, an example is given to simulate and analyze the results. The simulation results show that the required driving force of the micro-robot changes linearly, revealing the linear nature of the micro-robot in the case of fretting