CAJ | 학술논문

对高速高精度三轴并联机器人的结构进行了分析.先采用拉格朗日法建立单个串联机器人的拉格朗日函数,然后将3个串联机器人的拉格朗日函数相加,再加入闭链约束条件,最终得到该三轴并联机器人的动力学模型.该动力学模型结构简单、计算高效,为后续设计最优的控制器提供理论依据.
대고속고정도삼축병련궤기인적결구진행료분석.선채용랍격랑일법건립단개천련궤기인적랍격랑일함수,연후장3개천련궤기인적랍격랑일함수상가,재가입폐련약속조건,최종득도해삼축병련궤기인적동역학모형.해동역학모형결구간단、계산고효,위후속설계최우적공제기제공이론의거.
@@@@This paper analyzes the structure of a high speed and high precision three axis parallel robot .Firstly we use the Lagrange method to establish lagrange function of a single serial robot ,and add lagrange function of the 3 serial robot together ,then add the closed‐loop constraint condition ,finally get dynamic model of the three‐axis parallel robot .The dynamic model has the advantages of simple structure ,high computation efficiency ,which provides a theoretical basis for the future design of optimal controller .