平面二自由度并联机构的运动学和动力学研究  

Kinematic and Dynamic Analysis of a Planar Two-DOF Parallel Manipulator

作　　者：林协源 刘冠峰[1] 张国英[1] 

机构地区：[1]广东工业大学机电工程学院,广东广州510006

出　　处：《机床与液压》2015年第17期54-57,共4页Machine Tool & Hydraulics

基　　金：广东省高等学校人才引进专项资金项目(2050205);青年科学基金项目(50505009);国家自然科学基金项目(51375095)

摘　　要：为了满足发光二极管电子封装设备的高速高精要求,设计出了二自由度平面并联机构(2-PPa并联机构)。该机构由一个动平台和两个对称分布的结构完全相同的支链组成,每个支链中都有一个移动副(驱动关节)和一个由平面平行四边形组成的特殊移动副。推导出该机构的运动学模型,根据性能指标确定其设计参数,并基于Euler-Lagrange方程建立该机构的动力学模型,最后通过算例仿真并分析了动平台按照一定轨迹规划运动时,两个移动副速度、加速度和驱动力的变化规律。结果表明:速度变化过程中,两个移动副的加速度和驱动力都较大,其方向相互对应。In order to satisfy the request of high-speed and high-accuracy of LED( light-emitting diode) packaging machines,a type of planar 2-DOF parallel manipulator( 2-PPa) was designed. The manipulator consists of a moving platform and two identical subchains. Each subchain is made of a prismatic joint( actuator) and a parallelogram with four passive revolute joints. Kinematic model of the manipulator was derived. The geometric parameters of the manipulator was determined,and its dynamic model was established based on Euler-Lagrange formulation. A numerical example was provided to simulate and analyze the relationship between velocity,acceleration and driving torque of joints by the given path planning. The result shows that the velocity changes,the acceleration and torque of two joints are large. They are in the same direction.

关 键 词：二自由度 平面并联机构 移动副 运动学 动力学 

分 类 号：TH112[机械工程—机械设计及理论]