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并联刨床动力学分析
Alternative TitleDynamic analyses of a parallel planer
刘红军; 刘彬; 叶长龙; 姜春英
Department机器人学研究室
Conference Name7th World Congress on Intelligent Control and Automation
Conference DateJune 25-27, 2008
Conference PlaceChongqing, China
Author of SourceChongqing Univ, Chongqing Inst Technol, Chongqing Univ Sci & Technol, Xihua Univ, SW Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Chinese Assoc Artificial Intell, Natl Nat Sci Fdn, Chongqing Municipal Sci & Technol Comm, Chongqing Municipal Assoc Sci & Technol, KC Wong Educ Fdn
Source Publication2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23
PublisherIEEE
Publication PlaceNEW YORK
2008
Pages3242-3246
Indexed ByEI ; CPCI(ISTP)
EI Accession number20083911599889
WOS IDWOS:000259965702148
Contribution Rank2
ISBN978-1-4244-2113-8
Keyword并联刨床 动力学 D-h坐标 牛顿-欧拉法
Abstract并联刨床是将一种并联机构与龙门刨床相结合的产物,动力学特性分析对并联机床的控制很重要。本文对并联机床动力学概念及分析方法进行了介绍。在此基础上,采用D-H 坐标对该机床各支链进行了表述,从而利用串联机器人中的相关成熟技术进行相关分析。采用牛顿-欧拉法建立了机床的动力学模型最后采用Matlab 对该动力学模型进行了仿真。仿真结果表明该机床动力学特性,且与实际加工情况基本吻合。
Other AbstractParallel kinematic planer is a new type of PKM. Dynamic character analyses are important to the parallel kinematic mechanism's control. The paper reviews the conceptions of the PKM's dynamic and its analyses method. Then based on this introduction, the paper describes a kind of a 4-dof parallel kinematic mechanism by D-H method. Then can utility the traditional technology which is effectively used in serial robot to analyze the parallel kinematic mechanism. By these describes, the paper adopts Newton-Euler to make the mechanism's dynamic model, and meanwhile the detail calculation process is present too. Finally the paper simulates the dynamic model by the Matlab software. The simulation results indicate the mechanism's dynamic character and are same as actual controlling.
Language中文
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20028
Collection机器人学研究室
Corresponding Author刘红军
Affiliation1.Shenyang Institute of Aeronautical Engineering, Shenyang 110136, China
2.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016, China
Recommended Citation
GB/T 7714
刘红军,刘彬,叶长龙,等. 并联刨床动力学分析[C]//Chongqing Univ, Chongqing Inst Technol, Chongqing Univ Sci & Technol, Xihua Univ, SW Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Chinese Assoc Artificial Intell, Natl Nat Sci Fdn, Chongqing Municipal Sci & Technol Comm, Chongqing Municipal Assoc Sci & Technol, KC Wong Educ Fdn. NEW YORK:IEEE,2008:3242-3246.
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