球面并联机构动力学模型构成项对比研究  

A Contrastive Study of the Items of Dynamics Model of the Spherical Parallel Mechanism

作　　者：李成刚[1] 吴洪涛[1] 朱剑英[1] 

机构地区：[1]南京航空航天大学机电学院,南京210016

出　　处：《机械科学与技术》2011年第5期807-812,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：江苏省数字化制造技术重点实验室开放课题(HGDML-0604;HGDML-0605);国家自然科学基金项目(50375071)资助

摘　　要：基于旋量理论表达简单、应用灵活的特点,采用旋量理论推导了球面并联机构的动力学模型,得到了电机的驱动转矩方程。通过对动力学模型的变换,获得了动力学方程的形位空间表达模型及相关系数。最后,对动力学模型中的构成项进行了对比分析,考察各个构成项的重要程度。仿真实例表明:动力学方程中的惯性系数和重力项占有的比重较大,而哥氏力系数和向心力系数占有的比重较小,在数值上相差一个数量级,只有当机构运动速度在一定范围内时才可以将哥氏力和向心力忽略。We derived the analytical formulation of the velocity,acceleration and dynamics model of a spherical parallel mechanism by means of screw theory which has simple expression and convenient application,and the equation of motors moment was obtained.Through the transformation of dynamics model,the configuration space model of equation and the corresponding coefficients were presented.Finally,the comparison among the terms of the dynamics model was carried out to identify their importance.The simulation results of examples show that the inertia moment and gravity are more important than the coriolis and centrifugal moment,and the former is ten times of the latter in the magnitude.But the speed magnitude must be justified for deciding that weather the latter can be neglected.The latter can be neglected only if the velocity of mechanism is very slow.

关 键 词：旋量理论 球面并联机构 动力学 仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]