并联机器人动力学的子结构Kane方法

基于Kane方法，提出了一种适合建立并联机器人动力学方程的子结构Kane方法。该方法将并联机器人的各个杆件看作是独立的子结构，针对每个子结构建立各自的动力学方程，根据子结构之间的约束关系构成系统的约束动力学方程，最后运用正交补法或SVD奇异值分解法消去子结构之间的约束，形成系统的动力学表达式。以Stewart平台机械手为例，说明了该方法的建模过程。与Newton-Euler方法、Lagrange方法及传统的Kane方法相比，整个推导过程简单明了，最终构成的系统动力学方程非常简洁，计算效率高，适于并行计算。

Dynamics of Parallel Manipulator Using Sub-Structure Kane Method

Sub structure Kane method, which is very suitable for modeling the dynamic equations of parallel manipulator, was proposed. In this method, each serial link is treated as independent sub structure, the dynamic equations of system are composed of the equations of each link according to the constraints among sub structures. Those constraints are eliminated to obtain the system dynamic equations. As an example, a Stewart platform manipulator is used to explain the modeling process by this method. Compared to the Newton Euler method, Lagrange method and traditional Kane method, the modeling process is very simple. Moreover, the final system equations are very concise and computationally efficient.