3-UPU并联机构运动学性能分析  

Kinematic performance analysis of 3-UPU parallel mechanism

作　　者：武国顺[1] 陈良[1] 魏永庚[1] 毕永利[1] 

机构地区：[1]黑龙江大学机电工程学院,哈尔滨150080

出　　处：《黑龙江大学工程学报》2017年第2期93-96,共4页Journal of Engineering of Heilongjiang University

基　　金：机器人技术与系统国家重点实验室开放研究基金资助项目(SKLRS-2013-MS-04)

摘　　要：为提高并联机构的设计效率和设计的准确性,以3-UPU并联机构为研究对象,对其进行运动学性能分析,利用矢量法推导出机构的正、逆解公式。通过微分法推导出机构雅克比矩阵,同时建立机构输入速度与输出速度之间的映射关系,通过二次求导建立机构输入加速度与输出加速度之间的关系。利用Matlab软件进行速度与加速度的仿真计算,并绘制出并联机构输入速度(加速度)与输出速度(加速度)之间的关系,并与ADAMS软件虚拟仿真结果进行对比,从而验证3-UPU并联机构数学模型与三维实体模型的正确性。In order to improve design efficiency and design accuracy of parallel mechanism, the 3-UPU parallel mechanism is used as research object to analyze its kinematic performance, and the forward and inverse equations of mechanism are deduced by vector method. The Jacobi matrix of the mechanism is deduced by differential method, and the mapping relationship between input speed and output speed of mechanism is established, and the relationship between the input acceleration and the output acceleration is established by quadratic derivative. Then the simulation of velocity and acceleration is carried out by using Matlab software. The relationship between input speed （acceleration） and output speed （acceleration） of parallel mechanism is plotted and compared with the simulation result of ADAMS software, which verifies the correctness of 3-UPU parallel mechanism mathematical model and 3D solid model.

关 键 词：3-UPU并联机构 运动学性能分析 正解公式 逆解公式 

分 类 号：TH113.24[机械工程—机械设计及理论]