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题名:
并联刨床动力学分析
其他题名: Dynamic analyses of a parallel planer
作者: 刘红军; 刘彬; 叶长龙; 姜春英
作者部门: 机器人学研究室
通讯作者: 刘红军
会议名称: 7th World Congress on Intelligent Control and Automation
会议日期: June 25-27, 2008
会议地点: Chongqing, China
会议主办者: 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
会议录: 2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2008
页码: 3242-3246
收录类别: EI ; CPCI(ISTP)
EI收录号: 20083911599889
WOS记录号: WOS:000259965702148
产权排序: 2
ISBN号: 978-1-4244-2113-8
关键词: 并联刨床 ; 动力学 ; D-H坐标 ; 牛顿-欧拉法
摘要: 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。
英文摘要: Parallel 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.
语种: 中文
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/20028
Appears in Collections:机器人学研究室_会议论文

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作者单位: 1.Shenyang Institute of Aeronautical Engineering, Shenyang 110136, China
2.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016, China

Recommended Citation:
刘红军,刘彬,叶长龙,等. 并联刨床动力学分析[C]. 7th World Congress on Intelligent Control and Automation. Chongqing, China. June 25-27, 2008.并联刨床动力学分析.
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