十字型并联机构运动学及动力学分析  

Kinematics and Dynamics Analysis of a Cruciform Parallel Mechanism

作　　者：杨继东[1] 王光泽田 苗猛 YANG Jidong;WANG Guangzetian;MIAO Meng(College of Mechanical Engineering,Chongqing University,Chongqing 400044,China)

机构地区：[1]重庆大学机械工程学院,重庆400044

出　　处：《机械工程师》2019年第2期6-9,12,共5页Mechanical Engineer

摘　　要：对一种十字形并联机构进行了运动学分析,求出了其机构自由度,运用运动学叠加原理求出其位置正解和逆解,利用雅可比矩阵的条件数对其进行了运动性能评价。计算结果表明该机构雅可比矩阵的条件数恒等于1,具有优越的各向同性性能。基于拉格朗日方程导出十字型并联机构的动力学模型,并分析其动力学特性。通过MATLAB进行算例分析,讨论了十字型并联机构的机构等效惯量、驱动力矩等参数在给定运动规律下的表现。结果表明,该机构具有良好的对称性和稳定性,机构等效惯量是常数,只取决于机构本身的结构,而驱动力矩受载荷质量影响最大。Through kinematic analysis of the cruciform parallel mechanism,the degree of freedom is derived.The inverse and forward position model of this mechanism are established by employing kinematic superposition principle and the analytic solution is obtained.The condition number of Jacobian matrix is derived.The result of the calculation showed that this mechanism has perfect isotropic properties.Based on Lagrange equation,the dynamic model of the cruciform parallel mechanism is derived and the kinetic characteristics are analyzed.Through the analysis of MATLAB,this paper discusses the specific performance of the equivalent inertia and driving moment of the mechanism of the cruciform parallel mechanism under a given motion rule.The results show that this mechanism has good symmetry and stability,and the equivalent inertia of the mechanism is constant,which only depends on the structure of the mechanism itself,and the driving moment is the most affected by the load quality.

关 键 词：并联机构 运动学分析 动力学分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH112[自动化与计算机技术—控制科学与工程]