新型3-RPUR并联机构的逆动力学分析  

Inverse Dynamics Analysis of A Novel 3-RPUR Parallel Mechanism

作　　者：赵晓东[1] 丁文华[2] 李仕华[2] 句彦儒[2] 

机构地区：[1]邢台职业技术学院,河北邢台市054035 [2]燕山大学机器人研究中心,河北秦皇岛市066004

出　　处：《机械设计与研究》2009年第5期17-19,共3页Machine Design And Research

基　　金：教育部科学技术研究重点资助项目(208015);河北省自然科学基金资助项目(E2007000352)

摘　　要：用达朗伯原理与虚功原理相结合建立了3-RPUR并联机构的动力学模型。然后利用虚设机构法建立机构中各杆件的速度、加速度的一、二阶影响系数矩阵,从而解决了少自由度关联机构惯性力求解中各杆件的速度和加速度难以求解的问题。最后对3-RPUR并联机构进行了动力学理论计算和分析,得出了一些重要结论构。所有这些研究为3-RPUR并联机器人的设计和应用有着重要的意义。In this paper,dynamics model of a novel 3-RPUR parallel mechanism is analyzed.Firstly,driving forces equations of each driving pair of the whole mechanism are established by combining D Alembert Principle with virtual displacement Principle.Then,the first and second influence coefficient matrixes of velocity and accelertion of each link are established by using imaginary mechanism method,thus,the problem that velocity and acceleratoin of each link are difficult to solve is solved in inertial force so lution. Finally, theoretical dynamics calculation of 3-RPUR parallel mechanism is done and some important conclusions are got. All these research has important significance for design and application of the mechanism.

关 键 词：并联机构 动力学模型 达朗伯原理 虚设机构法 

分 类 号：TH112.1[机械工程—机械设计及理论]