[1]王英波,黄其涛,郑书涛,等.Simulink和SimMechanics环境下并联机器人动力学建模与分析[J].哈尔滨工程大学学报,2012,(01):100-105.[doi:doi:10.3969/j.issn.1007-7043.201011057]
 WANG Yingbo,HUANG Qitao,ZHENG Shutao,et al.Dynamic modeling and analysis of a parallel manipulator using Simulink and SimMechanics[J].hebgcdxxb,2012,(01):100-105.[doi:doi:10.3969/j.issn.1007-7043.201011057]
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Simulink和SimMechanics环境下并联机器人动力学建模与分析(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2012年01期
页码:
100-105
栏目:
出版日期:
2012-01-25

文章信息/Info

Title:
Dynamic modeling and analysis of a parallel manipulator using Simulink and SimMechanics
文章编号:
1006-7043(2012)01-0100-06
作者:
王英波黄其涛郑书涛韩俊伟许宏光
哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001
Author(s):
WANG Yingbo HUANG Qitao ZHENG Shutao HAN Junwei XU Hongguang
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China
关键词:
并联机器人动力学模型计算机辅助方法凯恩方法单刚体PID控制器
分类号:
TP242.2
DOI:
doi:10.3969/j.issn.1007-7043.201011057
文献标志码:
A
摘要:
为了对六自由度并联机器人动力学模型进行充分验证和分析,并提高建模与分析的效率,提出在Simulink和SimMechanics环境下进行动力学建模与分析的计算机辅助方法.将六自由度并联机器人描述为单个刚体,采用凯恩方法建立其单刚体动力学模型,设计了基于铰点空间控制策略的经典PID控制器,并在Simulink和SimMechanics这2种环境下进行了动力学建模仿真,六自由度并联机器人的动力学响应完全一致,说明了在Simulink和SimMechanics 2种环境下的动力学模型都是正确的,并且所提出的方法也可应用于所有机械系统的动力学建模与分析.

参考文献/References:

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备注/Memo

备注/Memo:
机器人技术与系统国家重点实验室基金资助项目(SKLRS 200803B)
更新日期/Last Update: 2012-03-23