[1]赵 强,李洪人.液压并联机器人的键图建模[J].南京理工大学学报(自然科学版),2006,(02):203-208.
 ZHAO Q iang,LIH ong-ren.Modeling of Hydraulic Parallel Robot Using Bond Graph[J].Journal of Nanjing University of Science and Technology,2006,(02):203-208.
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液压并联机器人的键图建模
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2006年02期
页码:
203-208
栏目:
出版日期:
2006-04-30

文章信息/Info

Title:
Modeling of Hydraulic Parallel Robot Using Bond Graph
作者:
赵 强1 李洪人2
1. 东北林业大学交通运输学院, 黑龙江哈尔滨150040; 2. 哈尔滨工业大学机电学院, 黑龙江哈尔滨150001
Author(s):
ZHAO Q iang1 LIH ong-ren2
1.School of Traffic Transportation Engineering,Northeast Forestry University,Harbin 150040,China;2.School of Mechanical Engineering,Harbin Institute of Technology,Harbin 150001,China
关键词:
并联机器人 仿真 键图 牛顿- 欧拉法
Keywords:
para lle l robo t simulation bond g raph New ton-Eu lermethod
分类号:
TH 112
摘要:
键图是一种能够统一处理多能量范畴工程系统的有效方法,该文针对液压驱动并联机器人提出了一种新颖的全系统键图仿真模型。基于牛顿-欧拉法建立运动平台的键图模型,根据伺服阀和液压缸的流量方程及力平衡方程建立阀控缸作动器的键图模型,按照因果关系规则将二者集成为全系统的键图模型。实例仿真表明该模型较真实地反映了系统的动态特性,可用于液压并联机器人的动力学分析和控制系统设计。
Abstract:
Bond graph is an effective unified approach to treat the eng ineering system w ith mult iple energy domains. A novel bond graph mode l is presented for hydrau lically driven parallel robo.t The model for themot ion platform is estab lished based on New ton-Eu ler method. A ccording to the servo va lve and the cy linder. s flow equat ions and the dynam ic equ ilibrium equation, the hydraulic actuator model is also estab lished. The abovemodels. integration under causa l relation rule forms the who lesystem model of the parallel robo.t The simulat ion shows that this model reflects the real behav io r o f the parallel robo.t It can be used in the dynamical ana lysis and contro l system design o f paralle l robots.

参考文献/References:

[ 1] Ou ld Bouam am a B, M edjaher K, Sam antaray A, et a.l Fau lt detection and iso lation of sm art actuators using bond graphs and ex terna l m ode ls [ J]. Contro l Eng ineer ing Practice, 2005, 13: 159- 175.
[ 2] Ka rnopp D, M argo lis D, Rosenberg R. System Dynam ics: A Unified Approach [M ]. New York: John W iley& Sons, 1990.
[ 3] Ka rnopp D. Understanding m ultibody dynam ics us ing bond graph representations [ J]. Journal o f Frank lin Institute, 1997, 334 ( 4): 631- 642.
[ 4] Pace jka H. M odeling com plex vehic le sy stem s us ing bond graphs [ J]. Journa l of the Frank lin Institute, 1985, 319 ( 1- 2) : 67- 81.
[ 5] Zeid A, Ov erholt J. S ingu la rly perturbed bond graph m ode ls fo r s imu lation of mu ltibody system s [ J]. Journa l of Dynam ic System s M easurem ent and Contro ,l 1995, 117 ( 9): 401- 410.

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备注/Memo

备注/Memo:
作者简介: 赵强( 1971- ), 男, 黑龙江富锦人, 副教授, 博士, 主要研究方向: 机械动力学及控制, E-m a il:account@hit. edu. cn。
更新日期/Last Update: 2006-04-30