摘要
建立了一种两自由度并联机构的运动学模型,给出了机构的雅克比矩阵,基于Kane方程推导了该并联机构的动力学模型。结合机构的工程应用实例,采用Matlab编程对动力学模型进行了实际计算,并绘制了机构所需驱动力的变化曲线,将该结果与ADAMS虚拟仿真结果对比验证了所建动力学模型的正确性。同时还给出了该机构在不同运动速度下各驱动力分量的变化情况,结果显示在高速运动时其动力学特性显著增强。
The kinematical model and Jacobian matrix of a 2-DOFparallel mechanism were established.Based on the Kane method the dynamic modelwas derived.Calculated the dynamic model with Matlab and the curves of driving forces required in this mechanism were plotted,and the ADAMS simulation results of the driving force were carried out to verify the correctness of the dynamic modelcombined with engineering application cases.The changes of the driving force components were also presented at different velocities,and the results display that the dynamiccharacteristics of this parallel mechanism significantly enhanced at the high speed.
作者
韩旭炤
陈阳阳
高峰
田璐
HAN Xu-zhao;CHEN Yang-yang;GAO Feng;TIAN Lu(School of Mechanical and Precision Instrument Engineering,Xi’an University of Technology,Shaanxi Xi’an 710048,China)
出处
《机械设计与制造》
北大核心
2018年第10期9-12,共4页
Machinery Design & Manufacture
基金
陕西省科技发展计划(2013JQ7009)
陕西省教育厅科技项目(14JK1527)
