摘要
采用Lagrange方法建立了VC80混联机床两自由度并联机构封闭形式的逆动力学模型,并用ADAMS建立的虚拟样机验证了该模型的正确性。对给定的加工轨迹下并联机构所需的驱动力进行了计算和分析,结果表明,该混联机床并联机构的动平台和连杆重力需要的驱动力分量最大,其次是切削力和惯性力,而动平台速度的不同对驱动力的影响较小。
A closed inverse dynamics model of 2-DOF parallel mechanism of hybrid VC80 machine tool was established by Lagrange method and its correctness was verified based on ADAMS software. The required driving force of parallel mechanism under the condition of the given cutting path was calculated and analyzed. The results indicate that the moving platform and the rods＇ gravity of the parallel mechanism of hybrid machine tool need the largest components of driving force under the condition of movable platform moving uniform, the cutting force and the inertial force require less, the joint driving force is affected by different velocity of the moving platform slightly.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2009年第7期784-788,共5页
China Mechanical Engineering
基金
陕西省重大科技创新项目(2005ZKC(二)01-01)
