基于CAD变量几何法的并联机构静力学分析  

Static Analysis of the Parallel Manipulator based on CAD Variable Geometry Techniques

作　　者：叶勇[1] 

机构地区：[1]重庆电子工程职业学院机电工程系,重庆401331

出　　处：《机械传动》2012年第8期57-60,共4页Journal of Mechanical Transmission

摘　　要：以虚功原理为基础,利用CAD变量几何法,求解空间并联机构各分支的驱动力和约束力。以3-RPS并联机构为例,首先构造含有欧拉角的该机构的模拟机构,在此基础上进一步构造F/T(力/力矩)模拟机构,得到其驱动力和约束力解。当改变驱动参数时,F/T(力/力矩)模拟机构随之变化,驱动力和约束力自动求解和动态显示。结果表明,CAD变量几何法不仅快速直观,而且准确可靠。Based on the virtual work theory as the foundations, the active and constraint forces of each limb of the parallel manipulator are solved. Tacking the spatial 3 - RPS parallel manipulator as research object, a simulation mechanism of the parallel manipulator with Euler angles was created firstly. Then the force/torque simulation mecha- nisms were created. Modifying the driving dimension, the configuration of the simulation mechanisms were varied cor- respondingly, and the active and constraint forces were solved automatically and visualized dynamically. The results show that the CAD variation geometry is fairly quick and straightforward, and is also advantageous from viewpoint of accuracy and reliability.

关 键 词：虚功原理 驱动力/约束力 并联机构 CAD变量几何法 

分 类 号：TH112[机械工程—机械设计及理论] TP391.72[自动化与计算机技术—计算机应用技术]