黄玉钏, 曲道奎, 徐方. 基于自然正交补的真空机器人动力学建模[J]. 机器人, 2012, 34(6): 730-736. DOI: 10.3724/SP.J.1218.2012.00730
引用本文: 黄玉钏, 曲道奎, 徐方. 基于自然正交补的真空机器人动力学建模[J]. 机器人, 2012, 34(6): 730-736. DOI: 10.3724/SP.J.1218.2012.00730
HUANG Yuchuan, QU Daokui, XU Fang. Dynamic Modeling of Vacuum Robots Based on Natural Orthogonal Complement[J]. ROBOT, 2012, 34(6): 730-736. DOI: 10.3724/SP.J.1218.2012.00730
Citation: HUANG Yuchuan, QU Daokui, XU Fang. Dynamic Modeling of Vacuum Robots Based on Natural Orthogonal Complement[J]. ROBOT, 2012, 34(6): 730-736. DOI: 10.3724/SP.J.1218.2012.00730

基于自然正交补的真空机器人动力学建模

Dynamic Modeling of Vacuum Robots Based on Natural Orthogonal Complement

  • 摘要: 基于自然正交补方法,推导出了一种真空并联机器人简洁的动力学模型.首先得到真空并联机器人的等效串联模型,并获取其运动学正反解.然后用利用自然正交补的理论给出真空机器人的动力学模型.通过仿真实验,可以验证该方法的可行性和有效性.

     

    Abstract: Based on the natural orthogonal complement, a concise dynamic model of vacuum parallel robots is calculated. Firstly, the solutions of kinematics and inverse kinematics are obtained by establishing an equivalent serial model of the vacuum parallel robots. Then, the dynamic model of vacuum robots is given based on natural orthogonal complement. By simulation,the feasibility and the availability of this method are proved.

     

/

返回文章
返回