摘要
针对混联运动机床开发中所采用的2自由度平面运动并联机构部分进行了深入的研究.介绍了该平面运动并联机构的组成,推导了并联机构的运动学正、逆解求解公式,求解了该机构的被动关节.基于边界元法对该机构的受力情况进行了建模和解析,给出了每个杆件的受力情况.通过ADAMS仿真验证了求解的正确性,为该机构的设计开发奠定了基础.本文的分析方法也为并联机构的静力学解析提供了新的思路和方法.
This paper presents intensive research on 2-DOF planar moving parallel mechanism during developing a new type of hybrid moving machine tool.The composition of this planar parallel mechanism is introduced,its direct and inverse kinematics solution formulas are deduced,and its passive joint is solved.The forces acted on the parallel mechanism are modeled and analyzed by boundary element method（BEM）,and the forces acted on every linkage are formulated.All the solutions are validated by ADAMS simulation.It lays a foundation for the design and development of this mechanism.The analysis method in this paper provides a new idea for the parallel mechanism＇s static analysis.
出处
《机器人》
EI
CSCD
北大核心
2010年第3期384-389,共6页
Robot
基金
国家973计划资助项目(2009CB724406)
国家自然科学基金资助项目(50875209)
关键词
并联机构
运动学
静力学
边界元法
parallel mechanism kinematics statics boundary element method（BEM）
