一种非完全对称新型Delta-CU并联机构的动力学分析

Dynamic Analysis of a Not-Fully- Symmetrical New Delta-CU Parallel Mechanism

针对作者提出的一种非完全对称新型三平移Delta-CU并联机构的刚体动力学性能问题,基于虚功原理建立了该并联机构的动力学模型。首先求解出主动臂、从动臂和动平台的速度与加速度;其次基于达朗贝尔定理,建立主动臂、从动臂及动平台的静力平衡方程,计算出机构运动副中的约束反力;利用虚功原理建立Delta-CU机构的动力学模型并对机构进行模态分析,得到不同振型下机构的固有频率;最后,通过算例对动力学模型进行数值计算,并与ADAMS虚拟仿真结果对比,验证了所建动力学模型的可行性和正确性。

In view of the dynamic performance of a new type of three translational parallel mechanisms Delta-CU,the dynamic model of parallel mechanism Delta-CU was built based on the principle of virtual work.First,the velocity and acceleration of the driving arm,the driven arm and the moving platform were calculated.Secondly,the static equilibrium equation of the driving arm,the driven arm and the moving platform were established based on the Darren Bell theorem,which could calculate the constraint force of the kinematic pair.Then,the dynamics model of the mechanism was established based the principle of virtual work and modal analysis of the mechanism was carried out to get the natural frequency of different modes of vibration.Finally,a numerical example was given to illustrate the feasibility and correctness of the established dynamic model by comparing with the virtual simulation results from ADAMS.