| 一种三自由度并联机器人的动力学分析 |
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| 引用本文： | 李兵,张宇,谢里阳,魏玉兰. 一种三自由度并联机器人的动力学分析[J]. 东北大学学报(自然科学版), 2010, 31(11): 1607-1610. DOI: - |
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| 作者姓名： | 李兵 张宇 谢里阳 魏玉兰 |
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| 作者单位： | 东北大学,机械工程与自动化学院,辽宁,沈阳110004;东北大学,机械工程与自动化学院,辽宁,沈阳110004;东北大学,机械工程与自动化学院,辽宁,沈阳110004;东北大学,机械工程与自动化学院,辽宁,沈阳110004 |
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| 基金项目： | 国家高技术研究发展计划项目，中国数控机床专项资金资助项目 |
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| 摘 要： | 介绍了一种三自由度并联机器人系统,建立了系统固定坐标系和运动坐标系.使用有限元法和弯曲振动法分析了机器人的动力学特性,建立了机器人的动力学方程,并对比了假设模态法的动力学特性.通过机器人的实验系统获得了机器人的共振频率和阻尼比,并分析了共振模态.将三种计算方法得到的固有频率与实验值作了比较,结果表明假设模态法获得的固有频率更接近于实验值.
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| 关 键 词： | 并联机器人 动力学 固有频率 拉格朗日方程 |
Dynamic Analysis of a 3-DOF Parallel Manipulator |
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| LI Bing,ZHANG Yu,XIE Li-yang,WEI Yu-lan. Dynamic Analysis of a 3-DOF Parallel Manipulator[J]. Journal of Northeastern University(Natural Science), 2010, 31(11): 1607-1610. DOI: - |
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| Authors: | LI Bing ZHANG Yu XIE Li-yang WEI Yu-lan |
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| Affiliation: | (1) School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, China |
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| Abstract: | The structural system of a 3-DOF flexible parallel manipulator is described, to which both the fixed and motional coordinate systems are set up. The dynamic characteristics of the manipulator are analyzed by FEM and bending vibration method, thus obtaining the dynamic equation based on the bending vibration theory and comparing it with the dynamic characteristics based on modal assumption. The resonant frequency and damping ratio of the manipulator are obtained via an experimental system for the manipulator, with the resonance mode discussed. The natural frequencies calculated by FEM, bending vibration and modal assumption are compared with the experimental value separately, and the results showed that the natural frequency obtained by modal assumption is closest to the experimental value. |
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