一种零耦合度及部分运动解耦的空间2T1R并联机构动力学建模  

Dynamics Modeling of a Spatial 2T1R Parallel Mechanism with Zero Coupling Degree and Partial Motion Decoupling

作　　者：汤耀 沈惠平[1] 曾博雄 杨廷力[1] TANG Yao;SHEN Huiping;ZENG Boxiong;YANG Tingli(Research Center for Advanced Mechanism Theory,Changzhou University,Changzhou 213164,China)

机构地区：[1]常州大学现代机构学研究中心,江苏常州213164

出　　处：《常州大学学报（自然科学版）》2022年第1期48-59,共12页Journal of Changzhou University：Natural Science Edition

基　　金：国家自然科学基金资助项目(51975062)。

摘　　要：针对一种零耦合度的空间2T1R并联机构,求解各构件速度与驱动副速度之间的关系矩阵;运用基于虚功原理的序单开链法,建立了机构的动力学模型,求解了机构的驱动力及连接2个SKC连接处运动副的支反力,进行算例验证;并就动力学方法求解的实时性,通过对比选用两种不同广义坐标时动力学方程求解所用的时间,给出优选广义坐标的建议。研究结果为该机构的设计和动力学优化奠定了基础。For a spatial 2T1R parallel mechanism(PM)with zero coupling degree,the relationship matrix between the speed of each component and the speed of driving pair was analyzed firstly.Then,the dynamic model of the PM was established by using the ordered-single-open-chain method based on the principle of virtual work,and the driving force of the PM and the reaction force connecting two SKC joints were solved.Finally,through the theoretical calculation of Matlab and the simulation of Adams,the driving force and the important reaction force were verified by examples.By comparing the time of dynamic solution under two different generalized coordinates,the optimal generalized coordinate was selected and the suggestion of optimizing the generalized coordinates was given.The research results provided the theoretical basis of mechanics for the practical design,manufacture and application of the PM.

关 键 词：并联机构 逆向运动学 动力学模型 虚功原理 序单开链法 

分 类 号：TH112[机械工程—机械设计及理论]