[1]王 刚,刘延杰,吴明月,等.基于拉格朗日乘子法的Delta并联机器人简化刚体动力学建模方法[J].机械与电子,2015,(07):68-72,76.
　WANG Gang,LIU Yanjie,WU Mingyue,et al.A Simplified Rigid Body Dynamic Modelling Method of Delta Robot Based on Lagrangian Multiplier Method[J].Machinery & Electronics,2015,(07):68-72,76.
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基于拉格朗日乘子法的Delta并联机器人简化刚体动力学建模方法
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年07期
页码:
68-72,76
栏目:
智能工程
出版日期:
2015-07-26

文章信息/Info

Title:
A Simplified Rigid Body Dynamic Modelling Method of Delta Robot Based on Lagrangian Multiplier Method
文章编号:
1001-2257(2015)07-0068-05
作者:
王 刚; 刘延杰; 吴明月; 韩海军
(哈尔滨工业大学机器人技术及系统国家重点实验室,黑龙江 哈尔滨 150001)
Author(s):
WANG Gang; LIU Yanjie; WU Mingyue; HAN Haijun
(State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001,China)
关键词:
并联机器人;  拉格朗日乘子法;  简化刚体动力学模型;  逆运动学模型
Keywords:
parallel robot;  Lagrangian multiplier method;  simplified rigid body dynamic model;  inverse kinematic model
分类号:
TP241
文献标志码:
A
摘要:
针对广泛应用于高速抓放操作的Delta并联机器人,提出了一种基于拉格朗日乘子法的刚体动力学建模方法,并利用约束方程的全微分求解出了动力学模型的显示表达式。建立了机器人的逆运动学以及刚体动力学模型,考虑机器人从动臂臂杆为轻质碳纤维杆,两端为较重的金属附件的特点,建立了简化刚体动力学模型。并针对机器人常用的高速抓放轨迹进行仿真,将简化前后的2种动力学模型与ADAMS仿真结果进行对比。
Abstract:
Targeting a Delta parallel robot which is widely used for high speed pick-and-place operation, a novel approximation for simplified rigid body dynamic model based on Lagrangian multiplier method is established. Both of the inverse kinematic and rigid dynamic model are developed, and the dynamic model is simplified considering the actual situation of the robot. Comparing the calculation results of the dynamic model before and after the simplification with the simulation results show that the simplified rigid model can not only reduce the amount of calculation but also improve the accuracy of it.

参考文献/References:

[1] Pierrot F, Reynaud C, Fournier A. DELTA: a simple and efficient parallel robot[J]. Robotica. 1990, 8(2): 105-109.
[2] Clavel R. Device for the movement and positioning of an element in space[Z]. Google Patents, 1990.
[3] Merlet J. Parallel robots[M]. Springer Science & Business Media, 2006.
[4] 冯李航,张为公,龚宗洋,等. Delta系列并联机器人研究进展与现状[J]. 机器人,2014,36(3): 375-384.
[5] Staicu S, Carp-Ciocardia D C. Dynamic analysis of Clavel's delta parallel robot[C]//IEEE International Conference on Robotics and Automation,2003:4116-4121.
[6] Khalil W, Ibrahim O. General solution for the dynamic modeling of parallel robots[J]. Journal of Intelligent and Robotic Systems,2007, 49(1): 19-37.
[7] Li Y, Xu Q. Dynamic analysis of a modified DELTA parallel robot for cardiopulmonary resuscitation[C]//IEEE/RSJ International Conference on Intelligtnt Robots and Systems,2005:233-238.
[8] 从爽,尚伟伟. 并联机器人: 建模, 控制优化与应用[M]. 北京: 电子工业出版社, 2010.

备注/Memo

备注/Memo:
收稿日期:2015-04-02
基金项目:国家高技术研究发展计划(863)资助项目(2013AA040901); 黑龙江省科研机构创新能力提升专项计划项目(YC13D004)
作者简介:王 刚(1991-),男,河北保定人,硕士研究生,研究方向为机器人结构优化设计与运动控制; 刘延杰(1975-),男,黑龙江哈尔滨人,博士研究生导师,教授,研究方向为机器人技术及系统; 吴明月(1982-),男,黑龙江哈尔滨人,博士研究生,研究方向为机器人结构优化设计以及振动抑制方法; 韩海军(1985-
更新日期/Last Update: 2015-07-26