摘要
以3-RRR并联平台为研究对象,阐述了一种建模设计及运动学与动力学仿真的研究方法,该方法在三维设计软件Pro/E环境下建立并联平台的虚拟样机模型,并将该模型导入到集仿真与分析为一体的软件ADAMS环境下,对3-RRR并联平台的运动学及动力学特性进行仿真分析,得到驱动关节的运动学和动力学特征曲线,运用该仿真分析的研究方法,可避免复杂的运动学与动力学方程的建立与求解过程,简化并联平台的设计与开发工作,为样机的调试和控制提供了理论依据。
This paper studied the kinematics and dynamics of a 3-RRR parallel platform. The virtual prototype model of parallel mechanism is constructed by Pro / E softw are. Importing the virtual prototype model into ADAM S softw are,the simulation and analysis of kinematic and dynamic of the 3-RRR parallel platform w ere conducted,and the characteristic curve of the kinematics and dynamics driven joints can be obtained.The method presented in this paper can avoid the complex process of equations establishing and solving of kinematics and dynamics as w ell as simplify the w ork of the design and development of parallel platforms.This investigation provides a theoretical basis for the debugging and control of the prototype.
出处
《组合机床与自动化加工技术》
北大核心
2015年第6期5-7,共3页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金资助项目(51305444)
教育部博士点基金(20120095120013)
江苏省科技计划项目(BY2014028-06)
江苏高校优势学科建设工程资助项目(PAPD)
关键词
并联平台
虚拟样机
运动学
动力学
parallel platform
virtual prototype
kinematics
dynamics
