| Parallel robot is a common structure of industrial robots. At present, it has extensive and important applications in many aspects such as industrial, military, aviation, ocean development, medical rehabilitation and entertainment, and become the focus of research in machinery and automation. However, the dynamics research for parallel robot is much less than mechanics and kinematics. Because robot dynamics model is the based of dynamic analysis and is the premise for dynamic performance evaluation and dynamic control, it is important to take the research in dynamic model of parallel robots.The paper based on the laboratory model. First, a general method to calculate the inverse dynamics model of the parallel robot has been given out, and then the direct dynamics model with Lagrange method has been established. Lagrange has a large amount of computing in these methods, but it is based on the principle of energy balance and only need the calculation of the kinetic energy and potential energy systems to determine the dynamics of the system and model. So it can eliminate the solving part of acceleration and angular acceleration in kinematics. Its derivation is relatively simple, and it is able to solve a very complex dynamics equations. It also has a explicit structure. Currently there is little research on this kind of 6-PSS parallel Robot, so this dynamic model has theoretical value.Comparing with the traditional method which use the input as the generalized coordinates, using pose as a method of generalized coordinates can greater improve the computer-controlled real-time control and make the solving process faster. The method is suitable for most robots.The method improves the real-time control system and can be applicable to the majority of robot. It is a important theoretical basis for the robot kinematics characteristics and in-depth analysis of the control system. |
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