3-UPU并联机构的速度和加速度分析  

3-UPU parallel mechanism velocity and acceleration analysis

作　　者：陈晓康 魏永庚[1] CHEN Xiao-Kang;WEI Yong-Geng(School of Mechanical ＆ Electrical Engineering,Heilongjiang University,Harbin 150080,China)

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》2018年第2期65-69,80,共6页Journal of Engineering of Heilongjiang University

基　　金：黑龙江大学研究生创新科研基金项目(YJSCX2017-168HLJU)

摘　　要：不同于串联机构,并联机构在运动过程中单支链的速度或加速度易发生突变,从而导致并联机构运动末端难以平稳控制。以3-UPU并联机构为研究对象,采用空间封闭矢量法和矩阵分析法,构建机构单支链、动平台虎克铰点和静平台虎克铰点的运动学矢量模型,对矢量模型进行一阶和二阶求导,推导出机构单支链及其构件质心的速度、加速度模型,通过单支链的矢量模型对3-UPU并联机构单支链及其构件质心的速度和加速度进行分析,求解出速度、加速度表达式。该分析为机构的结构参数设计和运动控制等提供了理论设计依据。Different from the series mechanism,the velocity or acceleration of the single drive branching chain of the parallel mechanism is easy to change in the course of motion,which leads to the difficulty of stable control of the movement end of the parallel mechanism. The model of 3-UPU parallel mechanism is taken as the research object,and the kinematics vector model of the single branch chain,moving platform hook hinge point and static platform hook hinge point is constructed by using space closed vector method and matrix analysis method. Based on the first and second order derivation of the vector model,the velocity and acceleration model of the center of mass of the single branch chain and its components of the mechanism are obtained. The velocity and acceleration of the single branch chain and the centroid of the component of the 3-UPU parallel mechanism are analyzed by the vector model of the single branch chain. The expressions of velocity and acceleration are solved,and the reliable theoretical basis is provided for the design of dimension parameters and motion control of the mechanism.

关 键 词：3-UPU并联机构 速度 加速度 

分 类 号：TH113.24[机械工程—机械设计及理论]