平面三自由度3-RRR并联机构的驱动力矩分析  

Analysis of the Driving Torque of Planar3-DOF3-RRR Parallel Mechanism

作　　者：郭彦军[1] 李瑞琴[1] 

机构地区：[1]中北大学机械与动力工程学院,山西太原030051

出　　处：《机械传动》2013年第12期109-112,共4页Journal of Mechanical Transmission

基　　金：国家自然科学基金资助项目(51275486)

摘　　要：提出了用虚功原理来研究平面三自由度3-RRR机构的受力特性。对该机构的逆运动学和雅可比矩阵进行了分析。推导出了驱动力矩的的线性形式,然后基于Matlab软件对机构的运动学进行了分析,与ADAMS软件的结果进行了比较,最后得出了驱动构件驱动力矩及运动副反力的变化规律。研究结果为进一步研究此种并联机构的刚度分析、动态性能、机构优化设计和系统控制等都有重要的意义。By using the virtual work principle, the force characteristics of the planar 3 - DOF 3 - RRR parallel mechanism is studied. The inverse kinematics and Jacobian matrix of the mechanism are analyzed. The linear form of the driving torque is deduced. Then, based on Matlab software, the kinematics analysis of mechanism is carried out, and the results are compared with the result of ADAMS software. At last, the variation law of driving torque and reac- tion force of the mechanism are obtained. The results of this study can provide necessary information for stiffness analy- sis, dynamic performance analysis, optimization design and system control of the 3 - RRR parallel mechanism.

关 键 词：并联机构 三自由度 驱动力矩分析 仿真 

分 类 号：TH112[机械工程—机械设计及理论]