3-PUPU并联机构的运动学分析与仿真  

Kinematic Analysis and Simulation of 3-PUPU Parallel Mechanism

作　　者：曹磊[1] 马春生[1] 李瑞琴[1] 张斌[1] 

机构地区：[1]中北大学,太原030051

出　　处：《包装工程》2018年第3期118-123,共6页Packaging Engineering

基　　金：国家自然科学基金(51275486)

摘　　要：目的对一种新型6自由度3-PUPU并联机构进行运动学分析和仿真,验证其是否具有良好的运动学性能。方法首先基于螺旋理论对3-PUPU机构的自由度进行分析,通过修正(G-K)公式对其自由度进行计算。然后利用雅可比矩阵,研究3-PUPU机构执行末端和各部件主要节点的速度和加速度的运动学参数。最后将Solid Works软件建立好的模型导入ADAMS软件中进行位移、速度和加速度的分析。结果通过ADAMS得到的各项参数的曲线都呈周期性变化,曲线并未出现突变点和断点,变化范围稳定。结论 3-PUPU并联机构的运动学性能良好,具有很强的可靠性。The work aims to analyze and simulate the kinematic properties of a new type of 3-PUPU parallel mechanism with 6-DOF, to verify whether the parallel mechanism has good kinematic performance. Firstly, the degree of freedom of the 3-PUPU mechanism was analyzed by the helix theory. The degree of freedom was calculated by the modified（GK） formula. Then, the Jacobian matrix was used to study the kinematic parameters of velocity and acceleration of execution end and main component nodes of the 3-PUPU mechanism. Finally, the model established by Solidworks software was imported into ADAMS software for displacement, velocity and acceleration analysis. The curves of all parameters obtained by ADAMS periodically changed. The curves had no sudden change points and break points, and its change range was stable. The kinematic performance of 3-PUPU parallel mechanism is superior with strong reliability.

关 键 词：并联机构 自由度 运动学 虚拟样机 

分 类 号：TB486[一般工业技术—包装工程]