摘要
采用增加约束从动支链限制运动平台自由度,同时减少驱动支链的方法,得到了一种新型四自由度并联机构。分析了该机构的运动自由度,建立了该机构运动构件的输入、输出关系方程,同时利用牛顿-欧拉法建立含驱动摩擦的机构动力学模型。对该机构进行运动轨迹规划,采用编程计算,得到了在两种不同运动轨迹条件下的机构各构件受力。最后利用Matlab的Sim Mechanics工具箱对该机构进行了动力学仿真,验证了该机构理论计算的正确性。
A novel four degree of freedom( 4-DOFs) parallel mechanism was obtained by using method of adding constraint-driven-limb limiting the DOFs of movement platform and removing driving-limbs. The DOFs of this mechanism were analyzed,and then the input / output relationship equations of moving links were built and Newton-Euler( N-E) method was used to establish dynamical model of this mechanism including driving-joint-friction. Through the programming calculation and proposing the method of motion trajectory planning of the mechanism,the force / moment of each limbs and platforms was obtained in the two different trajectories conditions. Finally the tool kit of Sim Mechanics and Matlab were used to simulate this parallel mechanism dynamicaly,which verifies the correctness of theoretic calculation fot the mechanism.
出处
《机床与液压》
北大核心
2016年第3期40-45,共6页
Machine Tool & Hydraulics
基金
洛阳理工学院引进人才专项科研基金资助项目
河南省高等学校重点科研项目(15A460007)
关键词
四自由度
并联机构
运动轨迹
动力学仿真
4-DOFs
Parallel mechanism
Motion trajectory
Dynamic simulation
