3- PRP平面并联机器人动力学中的关节内力
Internal joint forces in dynamics of a 3-PRP planar parallel robot
摘要：
本文建立了3-PRP平面并联机器人动力学的递推矩阵关系。连接到移动平台的三个相同的平面支腿位于同一竖直平面内。知道平台的运动，我们首先开发的逆运动学问题，并确定的位置，速度和加速度的机器人。此外，逆动力学问题的解决使用的方法的基础上的虚功原理。最后给出了三个作动器的输入功率和关节内力的仿真图。
英文摘要：
Recursive matrix relations for the complete dynamics of a 3-PRP planar parallel robot are established in this paper. Three identical planar legs connecting to the moving platform are located in the same vertical plane. Knowing the motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities and accelerations of the robot. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work. Finally, some graphs of simulation for the input powers of three actuators and the internal joint forces are obtained.
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