少自由度并联机构动力学建模.doc

工程学院 题 目: 少自由度并联机构动力学建模 学生姓名: 学　　号: 专业班级: 学院名称: 指导教师： 职称：  PAGE \* MERGEFORMAT 1 少自由度并联机构动力学建模 摘 要：并联机构是当前机器人研究的热点问题。在机器人构型方面，并联机构的优点有精度高、承载能力强、动态性能好、动力学特性较好等，受到了越来越广泛的应用。少自由度并联机构具有结构简单、经济、控制相对容易等优点，受到越来越多学者的青睐。 本文对一种常见的少自由度并联机构—3-RPS并联机构进行分析，采用数值法求解工作空间，通过极限搜索的方法获得机构的工作空间边界。然后研究运动学的正解、逆解。最后运用牛顿欧拉法进行动力学建模，建立了动力学模型。 关键词：少自由度并联机构;运动学分析;动力学建模 Dynamics Modeling of Low DOF Parallel Mechanisms Abstract：Parallel mechanisms is the hot issues of current robot research.Parallel mechanism is more widely used, because it has many advantages such as big stiffness, high carrying capacity,good dynamic performance,better dynamics and so on. As Low DOF parallel mechanism has a simple structure, economy, relatively easy to control, so it is favored by more and more scholars . In this paper for the analysis of a common Low DOF parallel mechanism—3-RPS,study the structure’s work space with analytical method,use the method of the search of the limit to get the boundary of the workspace.And then establish the kinematics equations,study the kinematics of the positive solution,inverse kinematics.Finally,use the method of Newton Euler for dynamics modeling,establish the dynamic mathematical model of this three-DOF parallel mechanism. Key words： Low DOF parallel mechanisms, kinematic analysis,dynamic modeling  目录 TOC \o 1-3 \h \z \u   HYPERLINK \l _Toc388459252 1 绪论  PAGEREF _Toc388459252 \h 1  HYPERLINK \l _Toc388459253 1.1 前言  PAGEREF _Toc388459253 \h 1  HYPERLINK \l _Toc388459254 1.2 并联机构简介  PAGEREF _Toc388459254 \h 1  HYPERLINK \l _Toc388459255 1.3 并联机构国内外研究现状  PAGEREF _Toc388459255 \h 1  HYPERLINK \l _Toc388459256 1.4 本文主要研究内容  PAGEREF _Toc388459256 \h 3  HYPERLINK \l _Toc388459257 2 3-RPS并联机构工作空间分析  PAGEREF _Toc388459257 \h 4  HYPERLINK \l _Toc388459258 2.1 引言  PAGEREF _Toc3884592