Vector Bond Graph Method of Kineto- static Analysis for 3SPS + 1PS Paralell Robot

In order to increase the reliability and efficiency of the kineto- static analysis of complex space robot systems,the corresponding vector bond graph method is proposed. From the kinematic constraint condition,the vector bond graph models of spherical joint and prismatic joint are built. Based on this,the vector bond graph model of 3PS + 1PS parallel robot is established. For the algebraic difficulties brought by differential causality and nonlinear junction structure in automatic modeling and kineto- static analysis of spatial robot mechanism,the effective bond graph augment method is proposed. By the corresponding algorithm,the automatic modeling and kineto- static analysis of 3PS + 1PS parallel robot system on a computer is realized,its validity is illustrated.