【摘要】 用拉格朗日方法对创新的 3 PTT型水平滑块式三杆并联机器人机构进行了动力学建模 ,为该机器人的控制提供了基础·还利用动力学模型对该机器人的可操作性和动力学特性进行了分析 ,分析结果证明 ,该机器人在工作空间内部 ,其加速特性和动态特性良好 ,而在工作空间边缘 ,加速特性和动态特性变差·滑块驱动力随平台重量增加而增加 ,加速时间应适当 ,且磨削力对滑块驱动力也有影响·该新型并联机器人动力学性能良好 ,具有很好应用价值·更多还原

【Abstract】 A dynamics model for a novel of 3 PTT parallel robotic mechanism with 3 horizontal sliders was established by Lagrange approach. This model is the basis for control issue. The maneuverability and the dynamics performance of this robot were analyzed using the dynamics model. The accelerate performance and dynamics performance are good within workspace, and bad outside workspace. The actuator force to horizontal sliders increases when the weight of mobile platform increases. The accelerate time must be chosen strictly. The grinding force affects the actuator force to horizontal sliders.更多还原