2-RRC/1-RRS并联机器人运动学与动力学分析

Kinematics and Dynamics Analysis of 2-RRC/1-RRS Parallel Manipulato

摘要:

针对农业物料筛分问题，本文提出了一种2-RRC/1-RRS并联机器人机构模型，对其运动学和动态特性进行了研究。基于2-RRC/1-RRS并联机器人机构各支链运动特点，开展了机器人结构特征与运动变量耦合关系分析。进行了2-RRC/1-RRS并联机器人机构运动学分析，给出了机器人运动学反解解析表达式。基于2-RRC/1-RRS并联机器人系统动能和势能分析，利用经典力学Lagrange方程法，推导了机器人动力学方程。通过算例探讨了2-RRC/1-RRS并联机器人机构运动参量、驱动力和能耗变化规律。研究结果对认知2-RRC/1-RRS并联机器人运动学特征、动态特性以及结构优化设计和系统的高精度控制等具有重要意义，为农业物料筛分装备设计提供了新思路。

Abstract:

A novel structure model of 2-RRC/1-RRS parallel manipulator mechanism was proposed for the screening of agricultural materials, and its kinematics and dynamic characteristics were studied. Firstly, based on the motion characteristics of each branch chain in the 2-RRC/1-RRS parallel manipulator mechanism, the manipulator structure characteristics and the coupling relationship between the motion variables were analyzed. Secondly, the kinematics of the 2-RRC/1-RRS parallel mechanism was deduced, and the analytical expression of the inverse kinematics of the robot was given. Then based on the discussion of kinetic energy and potential energy of the 2-RRC/1-RRS parallel manipulator, the dynamic equation of the manipulator was derived by Lagrange equation method of classical mechanics. Finally, the dynamic characteristics of the 2-RRC/1-RRS parallel manipulator mechanism, such as motion parameters, driving torque and energy consumption, were discussed by an example. The results showed that the parameters of moment of inertia in the dynamics equation of the 2-RRC/1-RRS parallel manipulator system were closely related to the structure size of the manipulator, the mass size and mass distribution of each component, and the motion configuration of the manipulator, so as to determine the kinematics and dynamics characteristics of the 2-RRC/1-RRS parallel manipulator. The research content was of great significance to deeply understand the kinematics and dynamic characteristics of 2-RRC/1-RRS parallel manipulator, as well as the structural optimization design and the high-precision control of the manipulator, which can provide an idea for the innovative design of new equipment for agricultural material screening.