三平移多维减振装置动力学及振动特性分析

Dynamics and Vibration Characteristic Analysis on Multi-dimensional Damping Device with Three-translation Parallel Mechanism

三平移多维减振装置在工程中具有广泛的应用基础。设计了以3-PRRP(4r)三平移并联机构为主体的多维减振平台,推导了机构的位置逆解的解析式,采用拉格朗日方程建立系统的动力学模型;通过建模仿真方法,分析了系统的力学参数对其振动特性的影响及脉冲激励下系统的减振效果。结果表明,该减振装置具有明显的三维减振作用,可广泛应用于多维振动领域。

To multi-dimensional damping equipment with three-translation,its foreground of application is very wide.Taking 3-PRRP（4r） three-translation parallel mechanism as main body,the multi-dimensional damping equipment is designed.The position inverse formulas are induced,and its dynamic mode is established by using Lagrange equation.The influence of system mechanics parameters on vibration characteristic and the vibration reduction effect of system under impulse excitation are analyzed through modeling simulation method.The result shows that this system has obvious effect of vibration reduction,and it is able to extend other domain of multi-dimension vibration reduction.