CAJ | 학술논문

等效元素集成法是复杂机构动力学分析中一种规范、高效的建模方法.用等效元素集成法建立空间机构动力学方程的关键是确定系统各运动关节及结点与广义坐标之间关系的二阶转换张量以及相应的三阶转换张量.针对并联机器人中各构件之间复杂的运动关系,基于等效元素集成法,列写出6-HTRT并联机器人动力学方程,其求解思路适合于机器人工作空间中的不同点及不同机构尺寸的该型号机器人,求解过程较为简捷、方便.
등효원소집성법시복잡궤구동역학분석중일충규범、고효적건모방법.용등효원소집성법건립공간궤구동역학방정적관건시학정계통각운동관절급결점여엄의좌표지간관계적이계전환장량이급상응적삼계전환장량.침대병련궤기인중각구건지간복잡적운동관계,기우등효원소집성법,렬사출6-HTRT병련궤기인동역학방정,기구해사로괄합우궤기인공작공간중적불동점급불동궤구척촌적해형호궤기인,구해과정교위간첩、방편.
The equivalent finite element integrate method (EFEIM) is a normative and efficient modeling method for dynamic analysis of complex mechanisms. The key when establishing dynamic equations of spatial mechanisms is to confirm the corresponding second and third order conversion tensors related to the generalized coordinates and the moving joints and nodes of the system. To analyze the complex motion relationships of all components in a 6－HTRT parallel robot, this paper used EFEIM to derive second and third order conversion tensors of the dynamic equations. The method is suitable for solving motion problems with this type of robot in different positions in a work space and for different scales of mechanisms. The process used is simple and convenient.