3-DOF混联机构的动力学建模与仿真分析  

Dynamics Modeling and Simulation Analysis of 3-DOF Parallel Mechanism

作　　者：王保卫[1] 冯勇[2] 许惠[2] 李宗靖 卢立永 

机构地区：[1]鲁东大学交通学院,山东烟台264025 [2]南京工程学院机械工程学院,江苏南京211167

出　　处：《机床与液压》2016年第3期27-30,共4页Machine Tool & Hydraulics

基　　金：江苏省自然科学基金资助项目(BK20131341);江苏省高等学校大学生实践创新训练项目(201411276011Z)

摘　　要：提出一种新型三自由度混联机构,运用螺旋理论分析了该机构的机构学原理,计算了机构自由度。以多刚体系统动力学理论为基础,建立了该并联机构的多体系统动力学模型,在此基础上开展了该机构正向运动学、逆向运动学及动力学的仿真研究。结果表明:在所设计的的构型及尺度下,机构存在非线性的输入输出关系;在Z轴方向一定的情形下,X方向最大运行角度为-15°,Y方向最大运行角度为-17°;从机构的加速度及速度运动曲线来看,机构不存在明显的刚性冲击。A new parallel mechanism with three degrees of freedom( 3-DOF) was put forward,screw theory was applied to analyse the mechanism principle of the parallel mechanism and to calculate the degree of freedom( DOF) of the mechanism. The multi-body system dynamics model of the parallel mechanism was established based on the multi-rigid-body system dynamics theory,and kinematics,inverse kinematics and dynamics simulation analysis was carried out. The results show that in the designed model and dimensions,there is a nonlinear relation between the input and output of the mechanism. Under control the output of the Z axis direction in certain circumstances,the maximum angle of output in X direction is- 15 degrees,and the maximum angle of output in Y direction is- 17 degrees.The motion curve of velocity and acceleration of the mechanism is gentle,without obvious rigid impact in the mechanism.

关 键 词：螺旋理论 多体系统动力学 正向运动学 逆向运动学 

分 类 号：TB122[理学—工程力学] TH122[理学—力学]