Optimization of the Dynamic Performance of a Three-Stroke Parallel Gripping Robot Based on the Lagrange Equation

Abstract

In this paper, a new method based on Lagrange equation is proposed, which provides a new idea for the kinematic characteristics of the three translational parallel grasping robots. In this paper, the motion process of the three parallel parallel gripper manipulator is analyzed, and its dynamic analysis is carried out by the method of analytical mechanics, and its motion differential equation is obtained. In order to solve the problem of complicated constraint analysis and large amount of calculation, the dynamic system of a three translational parallel robot is simulated and tested in this paper. Firstly, the Lagrangian dynamic model of three planar parallel mechanisms is established by using the quadratic influence factor matrix, and the simulation calculation is carried out; Then, the force analysis of the transmission slider of the three translational parallel grasping robot is carried out, and the constraint formula of the spherical joint position is obtained. The results show that using Lagrange equation and quadratic influence factor matrix to analyze the constraints of three parallel manipulators can not only get the correct solution of the constraints, but also simplify the calculation program, get a more standardized and concise spherical joint constraint equation, and greatly optimize the dynamic performance of the grasping robot.