一种新型三支链六自由度并联机构动力学及性能分析  

Dynamic and Performance Analysis of a New 6-DOF Parallel Manipulator with Three Chains

作　　者：赵辉[1] 

机构地区：[1]郑州职业技术学院机械工程系,河南郑州450121

出　　处：《机床与液压》2015年第15期53-56,74,共5页Machine Tool & Hydraulics

摘　　要：提出一种三支链六自由度并联机构,简要介绍其参考坐标系和自由度特性。基于虚功原理和机构的运动学模型建立了机构的动力学模型;结合不同物理意义下的动力学性能指标,提出了衡量机构平均性能的全域性能度量指标;通过数值仿真,求解动力学模型,得到支链驱动力的变化规律及动力学性能指标随几何参数的变化规律。研究结果对进一步分析并联机构的稳定性、机构优化设计和系统控制等实际工程应用提供了理论基础。A new 6-DOF parallel manipulator with three chains was proposed. The reference system and DOF characteristics of the manipulator were introduced briefly. Based on the principle of virtual work and the kinematics model, the dynamic modal of the parallel manipulator was established. By combing the dynamic performance index with different physical significances, the global performance index which evaluates the average performance of the parallel manipulator was established. By numerical simulation, the variation curves of the active forces and the dynamics performance index along with the geometric parameters were obtained. The research resuh provides a theoretical basis for the future engineering application about stability, optimal design and control of the manipulator.

关 键 词：并联机构 虚功原理 动力学 性能指标 

分 类 号：TH112[机械工程—机械设计及理论]