标题： 一种约束嵌入方法用于混合肢并联机构动力学建模 显示英文标题

标题： A Constraint Embedding Approach for Dynamics Modeling of Parallel Kinematic Manipulators with Hybrid Limbs

摘要： 并联运动学操作器（PKM）的特点是存在闭合运动链，这既由于肢干的并联布置，也由于肢干内部存在运动链。此外，许多PKM的肢干是由串行组合运动链构建而成的。这种肢干被称为混合型，构成了复杂肢干的一个特殊类别。设计和基于模型的控制需要准确的动态PKM模型，理想情况下不需要模型简化。动态建模需要计算PKM所有成员的运动学关系，与标准的PKM运动学建模不同，后者只需计算操作器的正向和逆向运动学解（即输入和输出运动之间的关系）。对于具有混合肢干的PKM来说，这一过程更为复杂。本文采用模块化建模方法，分别处理各肢干，并随后将每个肢干的动力学运动方程（EOM）组装为整体模型。关键在于肢干内各个独立回路的约束解析。这种局部约束解析是通用\emph{约束嵌入}技术的一个特例。所提出的方法最终允许系统地建模一般PKM。该方法以IRSBot-2为例进行了验证，其中每个肢干包含两个独立回路。 显示英文摘要

摘要： Parallel kinematic manipulators (PKM) are characterized by closed kinematic loops, due to the parallel arrangement of limbs but also due to the existence of kinematic loops within the limbs. Moreover, many PKM are built with limbs constructed by serially combining kinematic loops. Such limbs are called hybrid, which form a particular class of complex limbs. Design and model-based control requires accurate dynamic PKM models desirably without model simplifications. Dynamics modeling then necessitates kinematic relations of all members of the PKM, in contrast to the standard kinematics modeling of PKM, where only the forward and inverse kinematics solution for the manipulator (relating input and output motions) are computed. This becomes more involved for PKM with hybrid limbs. In this paper a modular modeling approach is employed, where limbs are treated separately, and the individual dynamic equations of motions (EOM) are subsequently assembled to the overall model. Key to the kinematic modeling is the constraint resolution for the individual loops within the limbs. This local constraint resolution is a special case of the general \emph{constraint embedding} technique. The proposed method finally allows for a systematic modeling of general PKM. The method is demonstrated for the IRSBot-2, where each limb comprises two independent loops.