mechanism manipulator

CHEN Li-bo1，GONG Yuan2，TAO Ke1，LIU Xing1

（1. School of Mechanical Engineering，Shenyang University of Technology，Shenyang 110870，China；

2. Shenyang Guangtai Vacuum Equipment Co.，Ltd.，Shenyang 110000，China）

Abstract：Aiming at the dynamics analysis of the 5-DOF parallelogram mechanism manipulator，a dynamic model of the manipulator was established with the Lagrangian dynamics and the feature of the parallelogram mechanism. The effect of the effective inertia，coupling inertia，centripetal acceleration，coriolis acceleration and gravity to its dynamics performance were analyzed. A method to improve its dynamics performance was carried out. The dynamics simulation of the manipulator model which was established by UG was analyzed with the ADAMS. The effect of the tempo of the manipulator working to its efficiency and stability was texted. The results indicate that byoptimizing the organization can improve its dynamic performance and reduce the impact of nonlinear force，the simulation verifies thecorrectness of its dynamics model and reflects the variation of joint driving torque clearly. It lays the foundation for the design andoptimization of manipulator control system.

Key words：parallelogram mechanism；Lagrangian dynamics；ADAMS；simulation