基于虚功原理的Stewart-Gough型并联机构的逆动力学研究  

Study of the inverse dynamics of a Stewart-Gough manipulator based on the principle of virtual work

作　　者：高刚毅[1] 姜全新[1] 陈畅子[1] 

机构地区：[1]荆楚理工学院机械工程学院,荆门448000

出　　处：《江苏科技大学学报（自然科学版）》2017年第3期303-308,共6页Journal of Jiangsu University of Science and Technology:Natural Science Edition

基　　金：荆门市2015年科技项目(YFZD2015056)

摘　　要：为了提出一种更为简便的系统方法用于对Stewart-Gough型并联机构的动力学逆解问题进行求解,采用矢量法研究Stewart-Gough型并联机构的运动学,在运动学的基础上,基于虚功原理和雅可比矩阵理论,建立Stewart-Gough型并联机构的动力学方程,将Stewart-Gough型并联机构的动力学方程缩减为一组包含6个未知数的6个线性方程.最后,编制了一套计算程序用于求解并联机构的逆动力学,通过仿真得到了动平台的动力变化曲线.由于采用了雅克比矩阵方法,而不用去求偏速度和偏角速度,使并联机构的动力方程更为简洁.This paper employs a simpler systematic methodology to solve the inverse dynamics of a Stewart-Gough parallel mechanism. The kinematics of Stewart-Gough parallel mechanism was studied using vector method, and on the basis of kinematics, a methodology for deriving the dynamical equations of motion is developed based on the principle of virtual work and the concept of link Jacobian matrices. Then, it is shown that the dynamics of the Stewart-Gough parallel mechanism can be reduced to solving a system of six linear equations in six unknowns. Finally, a computational algorithm for solving the inverse dynamics of the manipulator is developed and several curves of the moving platform are simulated, and the results compare well with the results of ADAMS.

关 键 词：动力学 并联机构 虚功原理 雅克比矩阵 

分 类 号：TH132[机械工程—机械制造及自动化]