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3-RSS/S踝关节康复并联机器人的动力学建模及仿真
Dynamic Modeling and Simulaion of 3-RSS/S Parallel Robot for Ankle Joint Rehabilitaion
【摘要】 推导了3-RSS/S踝关节康复并联机器人的雅可比矩阵,利用拉格朗日方法建立了其动力学模型,并根据设计参数进行了动力学仿真分析,得到的驱动力矩曲线连续平滑,表明机器人可控性好。
【Abstract】 The jacobian matrix of 3-RSS/S parallel Robot is derived ,and the dynamic model is setup by using Lagrange’s method in this paper.The reality model is built based on the virtual prototype technology, and the driving torque curves for rotating x,y,z axes of the three cranks are obtained. The result shows the parallel mechanism will be controlled very well.
- 【文献出处】 机电产品开发与创新 ,Development & Innovation of Machinery & Electrical Products , 编辑部邮箱 ,2006年03期
- 【分类号】TP242
- 【被引频次】7
- 【下载频次】325