摘要
针对3-PSS并联机构,应用Lagrange方程建立了3-PSS并联机构的动力学模型,在给定动平台的运动轨迹和负载的情况下,使用Matlab求出了3-PSS并联机构的滑块所需驱动力,并绘制出了驱动力随时间的变化曲线。使用ADAMS进行了3-PSS并联机构的动力学仿真,验证了3-PSS并联机构的Lagrange动力学模型的正确性。为3-PSS并联机构的控制系统的设计提供了理论依据,也为进一步的动力学性能优化奠定了基础。
The dynamic model of the 3-PSS parallel mechanism was built using Lagrange equation. The driving force required of the sliding block of the 3-PSS parallel mechanism was solved using Maflab software and the curve of driving force changing with time was mapped using Matlab in the case of the moving trail and the load of the moving platform were known. The validity of the Lagrange dynamic model of the 3-PSS parallel mechanism was verified through the dynamic simulaton of the 3-PSS mechanism in ADAMS software. Providing a theoretical basis for the design of the control system of the 3-PSS parallel mechanism and laying a foundation for the further dynamic performance optimization.
出处
《机床与液压》
北大核心
2016年第21期21-25,共5页
Machine Tool & Hydraulics
基金
国家科技部科技型中小企业技术创新项目(09C26213203835)
无锡职业技术学院校级科研课题(KJ201314)
