【摘要】 并联机构动力学模型是一个多输入、多输出、非线性、强耦合的复杂机电系统,目前还没有一个成熟的并联机构动力学建模和仿真计算方法.针对三自由度并联机构,建立了包括机械机构、伺服电机一体化的动力学模型.最后在设计好的运动平台轨迹下,计算了移动腿的位移、驱动电机的负载转距;分析了移动腿的误差.计算机仿真结果展示了控制器对机构位移和伺服电机转距良好的控制.更多还原

【Abstract】 Due that the dynamic model of a parallel mechanism is a multiple-input, multiple-output, non-linear, tight-coupling and complicated electromechanical system, an effective modeling and simulation method is still lacking for a parallel mechanism. In this study, an integrated dynamic model, including a mechanical manipulator and an alternative current (AC) servo motor, is established in terms of a three degree-of-freedom (DOF) parallel mechanism. Such parameters as sliding block displacement and servo motor torque have been calculated based on the predetermined track of a moving table. In addition, the errors of sliding block are analyzed. As a result, it is indicated that the manipulator displacement and servo motor torque are effectively controlled in this approach.更多还原