摘要
针对一种空间3自由度并联机构(2PRU-PRUPc),基于拉格朗日方程法建立其动力学模型,进而对该并联机构进行动力学分析。首先,对该机构的结构组成进行了详细地阐述;其次,基于螺旋理论分析了该机构的自由度,确定了动平台的运动规律为两转一移;然后,基于变换矩阵对机构进行运动学分析,建立其约束方程;进一步,基于拉格朗日方程法对机构的动能和势能进行了分析,结合约束方程,进一步建立了该并联机构的动力学模型;最后,运用Maple软件对并联机构的动力学进行计算,绘制了广义驱动力的变化曲线,并将计算结果与ADAMS虚拟样机仿真结果进行对比分析,验证了所建动力学模型的正确性。
In order to study a rigid parallel mechanism with three degrees of freedom(a 2PRU-PRUPc parallel mechanism),a dynamic model is established based on the Lagrange equation,and then the dynamic analysis of the parallel mechanism is carried out.Firstly,the structural component of the mechanism is described in detail,followed by an elaboration of the degrees of freedom of the mechanism based on the screw theory,establishing that the moving platform has two rotating degrees and one moving degree of freedom.Secondly,after performing a kinematic analysis of the mechanism using the transformation matrix,the constraint equations are created.Furthermore,the kinetic formulae and potential energy formulae of the mechanism are listed based on the Lagrange equation.Meanwhile,the dynamic model of the parallel mechanism is established based on the constraint equations.Finally,the dynamic equation of the 3-DOF parallel mechanism is solved in Maple,and then the change curves generalized driving force are plotted.The dynamic model is demonstrated by the virtual simulation results in ADAMS.
作者
马慧欣
许添旗
叶凡
叶培涛
曹毅
MA Huixin;XU Tianqi;YE Fan;YE Peitao;Cao Yi(School of Mechanical Engineering,Jiangnan University,Wuxi Jiangsu 214122,China;Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology,Wuxi Jiangsu 214122,China)
出处
《机械设计与研究》
CSCD
北大核心
2024年第4期7-11,共5页
Machine Design And Research
基金
国家自然科学基金资助项目(51375209)
江苏省“六大人才高峰”计划项目(ZBZZ-012)
高等学校学科创新引智计划项目(B18027)。
作者简介
马慧欣(1998-),女,硕士研究生,主要研究方向为并联机器人,已发表论文1篇,E-mail:15649059610@163.com;通讯作者:曹毅。
