【作者】 刘治志； 罗玉峰； 石志新； 杨廷力；

【Author】 Liu Zhizhi1Luo Yufeng 1,2Yang Tingli 3(1.Nanchang University,Nanchang,Jiangxi,330029;2.Xinyu College,Xinyu,Jiangxi,338031;3.Jinling Petrochemical Corporation,Nanjing,Jiangsu,210037)

【机构】 南昌大学机电工程学院； 新余高等专科学校； 中国石化金陵石化公司；

【摘要】 并联机构具有精度高、刚度大、承载能力强和便于实时控制等优点,应用非常广泛。同时并联机构通常具有多输入、多输出,由于存在多变量,并联机构呈现出非线性、多参数耦合的特点,因此其动力学问题具有一定的复杂性。本文以单开链为单元对一种平面三自由度并联机构进行结构分解,按结构分解的正序进行了运动分析,在运动分析的基础上按结构分解的逆序建立了该机构的动力学模型,并进行了动力学分析,求解出动态过程中的构件支反力和驱动力矩。序单开链法可以使机构运动学、动力学方程的维数降至最低,且恰等于机构的耦合度,因此该方法可以方便求解机构动力学问题,且计算效率较高。序单开链法思路清晰,求解过程简洁,有利于机构结构学、运动学和动力学的统一,易于实现软件化。更多还原

【Abstract】 Paraller mechanisms offer high accuracy,high rigidity,superior carrying capacity,and their Real-time control is convenient.By virtue of these attributes,paraller mechanisms were widely applied.However,paraller mechanisms suffer from the complexity of dynamic analysis,for they generally have many inputs and outputs.Nonlinear parameters and the coupling of parameters disturb the dynamic analysis of parallel mechanisms.A new method for the dynamic anlysis of a 3-dof planar parallel mechanism is stated in this paper,which is convenient for dynamic analysis and has higher compute efficiency.The parallel mechanism is decomposed into a series of ordered-socs,and then the kinematic analysis can be performed folllowing the forward order of structure decomposition.Based on the result of kinematic analysis,the dynamic model of the mechanism is builded following the inverse order of structure composition,therefore we can get the value of constrained forces and drive moments after the dynamic analysis.Using this method,the dimensions of the kinematic and dynamic equations can be reduced to the minimum,which is just equal to the coupled degrees of the mechanism,also the dynamic equations can be easily obtained.The new method of dynamic analysis is closely associated with the structure analysis and kinematic analysis,and we can develop a dynamic analysis sofeware applying this algorithm.更多还原