并联刨床动力学分析

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	并联刨床动力学分析
	刘红军; 刘彬; 叶长龙; 姜春英
	2008
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
关键词	并联刨床动力学 D-H坐标牛顿-欧拉法
其他题名	Dynamic analyses of a parallel planer
页码	3242-3246
通讯作者	刘红军
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	2
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
语种	中文
ISBN号	978-1-4244-2113-8
WOS记录号	WOS:000259965702148
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/20028]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	刘红军,刘彬,叶长龙,等. 并联刨床动力学分析[C]. 见:7th World Congress on Intelligent Control and Automation. Chongqing, China. June 25-27, 2008.