A Computer Aided Kineto-Static Analysis Method for 3-RRRT Parallel Manipulator Based on Vector Bond Graph

摘要

For improving the reliability and efficiency of the kineto-static analysis of complex robot systems, the corresponding vector bond graph procedure is proposed. By the kinematic constraint condition, the vector bond graph model of universal joint are made. Based on this, the vector bond model of 3-RRRT parallel Manipulator is built. For solving the algebraic difficulties brought by differential causality in system automatic kineto-static analysis, the effective bond graph augment method is proposed. From the algebraic relations of input and output vectors in the basic fields, junction structure and Euler-junction structure of system vector bond graph model, the unified formulae of driving moment (or force) and constraint forces at joints are derived, which are easily derived on a computer in a complete form. As a result, the automatic kineto-static analysis of 3-RRRT parallel Manipulator is realized, the validity of the method presented here is illustrated.