基于Kane方程的3-TPT并联机构动力学研究  

Dynamics Research of the 3-TPT Parallel Mechanism based on Kane Equation

作　　者：赵学洋[1] 赵恒华[1] 杨世彬[1] 牟红平 

机构地区：[1]辽宁石油化工大学机械工程学院,辽宁抚顺113001

出　　处：《机械传动》2016年第1期36-39,共4页Journal of Mechanical Transmission

基　　金：辽宁省自然科学基金项目(20052211)

摘　　要：以3-TPT并联机构为研究对象,进行动力学方面的研究。首先,以Kane方程为基础,从运动学角度出发,分析运动平台和各个驱动杆件的速度、加速度之间的关系;然后,运用Kane法建立3-TPT并联机构的动力学方程;最后,在MATLAB环境下进行驱动力和时间关系的仿真分析。分析结果表明,3-TPT并联机构有效驱动力呈周期性变化,且在加速和减速阶段有突变,这会引起平台的震动。Taking the 3- TPT parallel mechanism as study object,the dynamics of the 3- TPT parallel mechanism is studied. A formulation based on Kane equation is educed for the dynamics of the Stewart platform manipulator from the kinematics analysis of the model. The relation between velocity and acceleration of platform and driving bar are analyzed. Then the dynamics equations of the 3- TPT parallel mechanism is derived with the help of Kane equation. Finally,the simulation analysis of relationship between the driving force and time is carried outs by MATLAB software. The result show that,the driving force of 3- TPT parallel mechanism is changed periodically,and mutation in the acceleration and deceleration phases.

关 键 词：凯恩方程 并联机构 动力学 

分 类 号：TH112[机械工程—机械设计及理论]