三电机驱动混联压力机的运动特性分析

Analysis of Kinematic Characteristic of Three Motors Driven Hybrid Press

提出一种基于并联机构的三电机驱动的混联压力机,输入部分采用3-PRS并联机构,其动平台串联协调杆和导向杆输出压力。该机构降低了单个驱动源的功率,改善了系统的受力情况。利用齐次变换矩阵和串联部分杆长约束建立了压力机构的运动学方程,并利用Matlab软件得出压力输出端的速度曲线,表明该压力机构具有良好的运动特性。

A three - motor- driven hybrid press mechanism is presented based on parallel mechanism. The 3 - PRS parallel manipulator is taken as input part. The serial mechanism, which consists of a coordination rod and a guide rod, connects the mobile platform of 3 - PRS with output pressure link. The novel mechanism will reduce every single motor power and ameliorate the force situation. By using homogeneous transformation matrix method and the coordination rod length constraint, the kinematic equation is obtained. The velocity curves of end - effector are also com- puted with Matlab software, which indicates that this hybrid press mechanism is of well motion characteristics.