基于序单开链单元的并联机构动力学响应建模方法  

A Modeling Method of Dynamic Response for Parallel Mechanism Based on the Ordered Single-opened-chain

作　　者：张斌[1] 罗玉峰[1,2] 石志新[1] 廖斌[1] 胡云[1] 

机构地区：[1]南昌大学机电工程学院,江西南昌330031 [2]新余学院,江西新余338031

出　　处：《南昌大学学报（工科版）》2011年第4期383-386,共4页Journal of Nanchang University(Engineering & Technology)

基　　金：国家自然科学基金资助项目(50875261)

摘　　要：基于序单开链思想,按照机构耦合度κ算法,拟定结构分解路线,将机械系统分解成有序的单开链单元,然后对约束度小于0的单开链虚拟赋值,对每一个单开链单元进行运动学分析(包括位置、速度及加速度分析),再结合虚功原理可得到动力学响应方程通式。最后通过一个平面三自由度的实例说明了该方法的合理性,研究内容为机械系统的设计、性能评估及实时控制等后续研究奠定基础。Based on the view of ordered single-opened-chain（ SOC）, following the algorithm of K, and drawing up the structure-decomposing route, the mechanisms were decomposed into a series of ordered SOC units. Imaginary value was put into the SOCs whose constraint factor was below zero. After that, perform kinematic was analysised （ contains position, velocity, acceleration analysis） for every SOC. Then combining with principle of virtual work, the general equations of the dynamic response was established. Finally, an example of 3 - freedom degree plane mecha- nism has demonstrated its efficiency. This study set up the foundation for further research of mechanism system de- sign, performance estimation and timely control.

关 键 词：序单开链 并联机构 动力学响应 

分 类 号：TH112[机械工程—机械设计及理论]