一种虚拟轴工作台并联机构的力分析与样机模型

Force Analysis and Prototype Model of a Parallel Mechanism for Virtual-axial Worktable

提出一种新型四自由度虚拟轴工作台并联机构的力分析方法。用分析静力学的虚位移原理及雅可比矩阵建立并联机构的静力平衡方程,并计算和仿真验证该方程。用达朗贝尔原理建立机构的动力学模型,在ADAMS软件中作机构的动力学仿真分析。实例证明可得到该并联机构静力平衡和动力平衡的主动副驱动力设计条件。此外,设计并创建了样机的三维CAD模型,该模型可直接用于虚拟轴工作台的样机制造。

A dynamic analysis method of a new 4-DOF parallel mechanism for virtual-axial worktable was presented. Static-equilibrium equations of the parallel mechanism ware establish by virtual displacement principle of the analytical statics and Jacobian matrix, and the equations ware validated by computing and simulating. The dynamic model was established adopting D＇Alembert principle, and dynamic simulations of the mechanism were done by ADAMS software. The testing examples prove that the design qualifications for static and dynamical balanceable driving force （torque） of actuator for the parallel mechanism can be obtained. 3D CAD models of the prototype for parallel mechanism were designed and constructed. The models can be directly used to make the virtual-axial worktable prototype.