探月工程3UPS-PU并联机构的动力学建模与分析  

Dynamic Modeling and Analysis of Lunar Exploration Project 3UPS-PU Parallel Mechanism

作　　者：王娜[1] 唐一科[1] 吴小勇[1] 邢淑霞[1] 

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400044

出　　处：《世界科技研究与发展》2016年第2期270-275,共6页World Sci-Tech R&D

基　　金：国家自然科学基金(51105392);中央高校基本科研业务费(CDJZR14905502)资助

摘　　要：根据探月工程采样封装专项试验的要求,提出了一种3UPS-PU并联机构作为模拟着陆上升组合体在月球表面着陆姿态的实验平台。以此机构为研究对象,对其约束方程和位姿关系进行了分析,推导出驱动支链的杆长表达式和雅可比矩阵。在此基础上,利用虚功原理对该机构进行了动力学分析,建立了动力学模型。最后对典型工况进行MATLAB和ADAMS仿真验证,得到了驱动支链的杆长和驱动力变化规律,且仿真结果的误差非常小,验证了分析方法的正确性和可行性,解决了3UPS-PU并联机构运动学和动力学相关的一系列问题,同时该方法也适用于类似机构的研究与分析。According to the requirements of sample package special test in the lunar exploration project,a 3UPS-PU parallel mechanism was proposed as an experiment platform simulating land and rise combination＇s landing attitude on the lunar surface. The constraint equations and pose relationship of this mechanism were analyzed to derive length expressions of driven branched stem and Jacobian matrices. On this basis,the dynamics of this mechanism was analyzed by the principle of virtual work. Then the dynamic model was created. Finally,the typical working condition was simulated by MATLAB and ADAMS.Variation of the driving force and length of drive rod was obtained. What＇s more,the error value of the simulation results was very small. It verified the correctness and feasibility of the analysis method. The method can not only solve a range of issues related to kinematics and dynamics of 3UPS-PU parallel mechanism,but also be applicable to research and analysis of similar mechanisms.

关 键 词：并联机构 运动学 动力学 虚功原理 

分 类 号：TH112[机械工程—机械设计及理论]