H形并联机构反向动力学分析及验证  

Reverse dynamics analysis and verification ofH-shaped parallel mechanism

作　　者：杨继东[1] 胡晓岗 杨中山[1] 朵为鑫 YANG Jidong;HU Xiaogang;YANG Zhongshan;DUO Weixin(School 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：《传感器与微系统》2021年第4期15-18,22,共5页Transducer and Microsystem Technologies

基　　金：国家重点研发计划资助项目(2016YFC0803200)。

摘　　要：对一种H形并联机构进行了运动学和动力学分析,求出了机构的自由度,运用叠加原理建立了机构的运动学逆解、速度和加速度模型。利用虚功原理建立了机构的反向动力学模型,在分析机械系统中各运动部件在虚位移下的广义力基础上,推导出其动力学方程。通过MATLAB与Adams联合仿真以及特性实验,验证了反向动力学模型的正确性。为相似并联机构的动力学分析和轨迹规划奠定了基础,也为少自由度并联机器人精确控制提供了理论支撑。Kinematics and dynamics analysis of a H-shaped parallel mechanism is conducted,the degree of freedom of the mechanism is obtained,kinematics superposition principle is used to establish inverse kinematics,velocity and acceleration models for the mechanism.The inverse dynamics model is obtained by using the D’Alembert-Lagrangian principle.Based on the analysis of the generalized forces of each moving parts in the mechanical system under virtual displacement,the dynamic equations are derived.Through the joint simulation of MATLAB and Adams with characteristic test,the correctness of the inverse dynamic model is verified.Which lays a foundation for the dynamic analysis and trajectory planning of similar parallel mechanisms,and provides theoretical support for precise control of parallel robots with less degrees of freedom.

关 键 词：并联机构 二自由度 运动学 动力学 联合仿真 

分 类 号：TH112[机械工程—机械设计及理论]