改进的6-DOF并联机器人Newton-Euler动力学模型

THE IMPROVED NEWTON-EULER DYNAMICS MODEL OF 6-DOF PARALLEL ROBOT

摘要: 本文在6-DOF并联机器人运动模型的基础上，采用对加速度及作用力正交分解的方法，将其Newton-Euler动力学模型归结为一个简单的、可用于实时计算的模型．

Abstract: Based on kinematics model of 6-DOF parallel robot, this paper adopts orthogonal analysis method on acceleration and force, and summarizes the Newton-Euler dyn amics model into a simple model that can be used for real-time calculation.