3-TPT并联机床动力学仿真

Dynamics simulation of 3-TPT parallel machine tool

首先应用拉格朗日法建立并联机床的动力学模型,由拉格朗日方程展开后得到动力学方程的标准形式;其次结合一个实例,应用Matlab仿真软件对3-TPT并联机器人各杆的杆长与时间的变化及各杆驱动力与时间的变化进行了仿真;最后经分析可知驱动力呈周期性变化,且在加速和减速阶段有突变。所以该并联机床动平台在匀速阶段运动平稳,而在加速和减速阶段存在振动。

First,the Lagrange method was applied to establish the dynamic model of the parallel tool.The standard form of dynamic equation can be get by the Lagrange equation expansion.Then,the relationship between each stem length with time change of 3-TPT parallel tool were simulated by the Matlab software,and the relationship between the driving force and the time change was also simulated.Finally,the result shows that the driving force changes periodically,and has mutation in the acceleration and deceleration phases.Therefore,the mobile platform of the parallel tool moves smoothly in the uniform phase,while the vibration occurs in the acceleration and deceleration phases.