【摘要】 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。更多还原

【Abstract】 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.更多还原