3-RPS并联机构的主动力和约束力分析  

Analysis of active forces and constraint reactions of 3-RPS parallel manipulator

作　　者：赵燕[1] 黄真[1] 

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《燕山大学学报》2008年第4期299-303,339,共6页Journal of Yanshan University

基　　金：国家自然科学基金资助项目(50575197)

摘　　要：对3-RPS并联机构进行了动力分析。首先,通过列出所有构件的力和力矩平衡方程确定驱动力和平台受到的约束反力,即3-RPS机构的球副反力。当主动力和球副反力得到,其它约束力就迎刃而解。本文给出了2个数值算例,求出了主动力和全部运动副的约束反力。并通过此例讨论这种方法的优缺点和将来的发展。In this paper, dynamics analysis of 3-RPS parallel manipulator is presented. In the first instance, the active forces and constraint reactions applied to the platform （the constraint reactions of the spherical joint） are determined from the dynamic equilibrium equations of the legs and the platform. Then the other constraint reactions can be gained easily. The results are listed by two numerical examples. The advantages and disadvantages of the method as well as its trend are also discussed.

关 键 词：3-RPS并联机构 运动学 动力分析 主动力 约束反力 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]