提出约束嵌入法，实现含复合杆的并联机器人动力学建模。
A Constraint Embedding Approach for Dynamics Modeling of Parallel Kinematic Manipulators with Hybrid Limbs
- 分模块处理各杆件，通过约束嵌入解析局部闭环运动关系。
- 成功应用于IRSBot-2，每根杆含两个独立闭环结构。
- 适合需要精确动力学模型的复杂并联机械臂设计与控制。
并联机器人（PKM）具有闭链结构，不仅因多杆并联布局形成闭链，还因杆内存在运动闭环。许多PKM采用串接多个运动闭环的复合杆，构成一类复杂杆件。设计与基于模型的控制需准确的动力学模型，理想情况无需简化假设。这要求建立所有构件的运动学关系，不同于传统仅求解输入输出运动的正逆运动学。对于含复合杆的系统尤为复杂。本文采用模块化建模方法，分别处理各杆件，再将各杆动力学方程组装为整体模型。关键在于对杆内局部闭环的约束求解，该过程属于通用的‘约束嵌入’技术特例。所提方法可系统化建模一般性并联机器人。以IRSBot-2为例验证，其每根杆包含两个独立闭环。
原文摘要 · Abstract (English)
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.
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