空间并联指向机构实验平台动力学建模与仿真分析  

Dynamic modeling and simulation analysis of spatial parallel pointing mechanism experimental platform

作　　者：陈修龙[1] 杨伟涛 邓昱[1] CHEN Xiulong;YANG Weitao;DENG Yu(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China)

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《实验技术与管理》2023年第10期128-134,共7页Experimental Technology and Management

基　　金：山东省一流本科课程建设项目“机械设计基础”(2021-642);山东省研究生教育优质课程(SDYKC19076);山东科技大学专业学位研究生教学案例库建设项目(2020-17);山东科技大学优秀教学团队建设计划项目(JXTD20180502)。

摘　　要：为了提高学生的动力学建模和分析能力,基于3自由度3-转动副-转动副-转动副-转动副-转动副(3-RRRRR)空间并联指向机构实验平台,开展动力学建模与仿真分析研究。首先,分析3-RRRRR空间并联指向机构实验平台的结构特征,建立并联指向机构平台的运动学模型;然后,利用拉格朗日乘子法推导并联指向机构平台的刚体动力学模型,基于四阶龙格库塔(Runge-Kutta)算法求解机构平台动力学模型,通过数值仿真分析不同驱动速度对并联指向机构平台动力学响应的影响;最后,采用ADAMS虚拟样机仿真验证动力学模型及模型求解的正确性。该研究为空间并联机构实验平台刚体动力学建模和仿真分析提供了有效方法,为机构动力学分析与控制奠定了理论基础。In order to improve students'dynamic modeling and analysis abilities,aiming at a 3-degree-of-freedom 3-revolute joint-revolute joint-revolute joint-revolute joint-revolute joint(3-RRRRR)spatial parallel pointing mechanism experimental platform,the dynamic modeling and simulation analysis is studied.Firstly,the structural characteristic of the 3-RRRRR spatial parallel pointing mechanism platform is analyzed,and the kinematic model is established.Then,The rigid-body dynamic model of the parallel pointing mechanism platform is derived by using the Lagrange multiplier method,and the dynamic model of the mechanism platform is solved based on the fourth order Runge-Kutta algorithm.The influence of different driving speed on the dynamic response of the parallel pointing mechanism platform is analyzed by numerical simulation.Finally,the virtual prototype simulation by ADAMS is used to verify the correctness of the dynamic model and its solution.The researches provide a method for rigid body dynamics modeling and simulation analysis of spatial parallel mechanisms platform,and lay a theoretical foundation for mechanism dynamics analysis and control.

关 键 词：空间并联指向机构 实验平台 动力学建模 仿真分析 

分 类 号：TH112[机械工程—机械设计及理论]