新型4自由度并联机构的动力学建模与分析

Dynamic modeling and analysis of 4-DOF parallel mechanism

对虚拟轴工作台并联机构做了静力分析和动力分析.采用分析静力学的虚位移原理建立静力平衡方程,并用该方程计算了机构处于某种静力平衡状态下的平衡驱动力及力矩.采用影响系数矩阵及应用达朗贝尔原理建立了机构的动力学模型,并对并联机器人做了虚拟样机动力学仿真.机构的力分析为虚拟轴工作台样机的主动副驱动力设计提供了参考.

Static and dynamic analyses were made for the virtual-axial worktable. Virtual displacement principle of the analysis statics was used to establish static-equilibrium equations, which was used in calculating driving forces and torques when the mechanism was at some static-equilibrium state. Dynamic model was established adopting influence coefficients matrix and D＇Alembert principle. Meanwhile dynamic simulations of virtual prototype were done. The analyses provided references for the actuator torque of the prototype.