三平动并联机构动力学建模与工作空间分析  

Dynamics Modeling and Work Space Analysis of Three Translational Parallel Mechanism

作　　者：白龙[1] 孙牧原[1] 崔国华[1] 崔浩洋 

机构地区：[1]河北工程大学,邯郸056038

出　　处：《包装工程》2015年第23期88-93,共6页Packaging Engineering

基　　金：国家火炬计划(2012GH530153)

摘　　要：目的以可以实现空间三维平动的3-UPU并联机构为研究对象,对其进行运动学建模、动力学建模以及工作空间和动力学仿真。方法通过几何法建立机构的运动学模型,同时使用拉格朗日方法建立3-UPU并联机构的动力学模型,最后采用优化后的极限边界搜索法,建立并分析并联机器人的工作空间,求解工作空间的面积。在工作空间和速度与加速度的约束下,采用五次样条曲线进行轨迹规划,利用Matlab进行逆运动学与逆动力学建模与仿真。结果通过对动力学建模仿真与工作空间的分析可知,该机构有较大和对称的工作空间,同时拥有相对简单的动力学方程和较好的动力学性能。结论 3-UPU并联机构在工业自动化柔性包装、搬运与加工装配中,有广泛的应用前景。In this paper, the 3 UPU parallel mechanism that can realize three-dimensional translational movement was taken as the study object, the kinematics, dynamics modeling, work space and dynamic simulation of which were conducted to lay the foundation for the engineering application. Through the method of geometry, we built the kinematics model of the mechanism, and meanwhile, established the dynamics model of 3-UPU parallel mechanism using the Lagrange equation method. Finally, the working space of parallel robot was established and analyzed using the optimized limit boundary search method to solve the surface area of the workspace. Under the constraint of the working space as well as the speed and acceleration, the five spline curve was used for trajectory planning, and Matlab was used for the inverse kinematics and the inverse dynamics modeling and simulation. Through the analysis of dynamics modeling simulation and work space, it was found that the mechanism had a large and symmetrical work space, and meanwhile had a relatively simple dynamic equation and a good dynamic performance. In conlusion, 3 UPU parallel mechanism has broad application prospects in industrial automation flexible packaging, handling, processing and assembling.

关 键 词：3-UPU并联机构 拉格朗日方法 极限边界搜索法 动力学仿真 

分 类 号：TB486[一般工业技术—包装工程]