Study On Dynamic Model And The Calculation Method Of Parallel Robot Based On Multi-Agent

The performance foundation on design theory of parallel robot dynamics modeling is dynamics analysis and its calculation, which as the basic foundation on dynamic control. For the particularity and diversity of parallel robotic configuration, its dynamic analysis is extraordinary complicated. The dynamic modeling and calculation theory based on Multi-Agent is proposed, according to the characteristics of dynamic calculation of parallel robot.Firstly, it introduces the development situation of the parallel robot, and expounds the theory of Newton-Euler and Lagrange method. Secondly, it applies JADE in Multi-Agent system, and puts forward the model of the communication and interaction agreement on dynamics analysis in Multi-Agent system. Then, the approach to solve dynamic calculation in Multi-Agent system is studied. The dynamic calculation on planar parallel robot based on Multi-Agent is designed and developed correspondingly. It provides the prototype to calculate dynamics of the planar parallel robot based on Multi-Agent in a simple and convenient way. Under the base of the prototype on dynamic analysis and calculation in Multi-Agent system, the modeling of the planar parallel robot dynamic analysis is proposed firstly, and its process is simple, natural and convenient. The model has ability to solve the problem on the unified modeling of planar parallel robots. At last, the typical five-bar parallel robot and 3-RRR parallel robot are chosen as the example. Based on the prototype, that is the dynamic modeling and calculation in Multi-Agent system, which used to realize the dynamic calculation on the planar parallel robot. The feasibility on the prototype algorithm is verified.This simple and natural modeling and calculation method is proposed firstly. The way to dynamic calculation of planar parallel robot is a novel attempt, also is the exploration in Multi-Agent system. The unified and effective method is proposed, which has important theoretical and practical significance for promoting the further robotic research and development.