基于Lagrange方程三自由度并联机构动力学研究  

Study of a 3-DOF parallel manipulator dynamics based on Lagrange's equation

作　　者：白志富[1] 韩先国[1] 陈五一[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100083

出　　处：《北京航空航天大学学报》2004年第1期51-54,共4页Journal of Beijing University of Aeronautics and Astronautics

基　　金：航空科学基金资助项目 (99H5112 4)

摘　　要：针对一种三自由度的并联机构采用Lagrange方程建立了动力学方程 ,得出了机构驱动力显式解 .用计算机程序模拟了动平台做圆周运动时驱动力的变化情况以及机构简化所产生驱动力误差的大小 ,给出了可以对机构进行简化的条件 .分析了机构的结构参数与驱动力的关系 。Based on Lagrange's equation, the dynamic equation of a 3-DOF parallel manipulator was established and the drive force acted on the mechanism was given. Computer simulation was performed to investigate the driving forces variation when the platform moves along a circle and to study the force errors due to the model simplification, based on which, the condition for simplification was given. The relation between system parameters and drive force of the mechanism was obtained. The results provided references for detailed research on dynamic characteristics and optimal design of the parallel machine tools.

关 键 词：动力学 拉格朗日方程 仿真 并联机构 

分 类 号：TH113[机械工程—机械设计及理论]