引用本文: 孔令富, 张世辉, 肖文辉, 李成元, 黄真. 基于牛顿-欧拉方法的6-PUS并联机构刚体动力学模型[J]. 机器人, 2004, 26(5): 395-399.
KONG Ling-fu, ZHANG Shi-hui, XIAO Wen-hui, LI Cheng-yuan, HUANG Zhen. Rigid Body Dynamics Model of the 6-PUS Parallel Mechanism Based on Newton-Euler Method[J]. ROBOT, 2004, 26(5): 395-399.
 Citation: KONG Ling-fu, ZHANG Shi-hui, XIAO Wen-hui, LI Cheng-yuan, HUANG Zhen. Rigid Body Dynamics Model of the 6-PUS Parallel Mechanism Based on Newton-Euler Method[J]. ROBOT, 2004, 26(5): 395-399.

## Rigid Body Dynamics Model of the 6-PUS Parallel Mechanism Based on Newton-Euler Method

• 摘要: 用牛顿-欧拉方法建立了 6-PUS并联机构的动力学模型．为使动力学模型包含所有构件的重力和惯性力，以该并联机构的支链为研究对象，用D-H方法建立了各构件的坐标系，推导出了支链运动学逆解的解析解，并给出了动平台的速度、加速度与各构件速度、加速度之间的映射关系．然后，以动平台为研究对象导出了 6-PUS并联机构的动力学模型，并给出了动平台做圆周平动时各驱动力的变化曲线，为该类机构的动力学分析奠定了基础．

Abstract: The rigid body dynamics model of the 6-PUS parallel mechanism is presented based on Newton-Euler method. In order to contain the effect of the gravity and inertia force of all components, a series of coordinates on components are established with D-H method. As a result, closed-form equations for the inverse kinematics of a single chain are derived, and mapping relationships of velocity and acceleration between the mobile platform and the components are given. Then the dynamics model of 6-PUS parallel mechanism is deduced based on the platform, as an example, the driving force curves for circumferential translation are presented. This paper establishes the basis for dynamics analysis of mechanism of this type.

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