摘要
以3PTT并联机构的任一支链为研究对象,用D—H方法建立了各构件的坐标系,给出了支链运动学逆解的解析解;运用牛顿—欧拉动力学建模方法,建立了支链中构件的力和力矩平衡方程;推导出了3PTT并联机构的动力学方程,用MATLAB软件进行了理论计算,用ADAMS软件进行了动力学仿真,验证了理论计算的正确性,为3PTT类机构的动力学分析和应用奠定了基础,也为其机构的实际设计制造和应用提供了力学上的理论依据。
Aimed at arbitrary chain of 3PTT parallel mechanism,the coordinate system of each component was built by D-H method and the analysis solution to the inverse kinematics analysis of the branch had been gotten.The force and moment balance equations of the component had been set up by Newton-Euler method.Dynamic equations to 3PTT parallel mechanism had been derived. Theoretical calculation had been done by MATLAB software,dynamic Simulation had done by AD- AMS software,and the validity of the theoretical calculation had been verified.It establishes a good foundation for the dynamics analysis and application of the mechanism and it supplies the theoretical foundation for manufacturing the mechanism.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2006年第S2期32-36,共5页
China Mechanical Engineering
基金
山东省自然科学基金(Y2003F01)
山东省教育厅资助项目(J05C14)
山东理工大学科研基金项目(2004KJM05)
关键词
并联机构
动力学
仿真
牛顿—欧拉法
parallel mechanism
dynamics
simulation
Newton-Euler method
