基于3-PRC并联机构三维雕刻机动力学分析

Dynamic analysis of three translational parallel mechanism based on Kane equation

以空间三平移并联机构为研究对象,采用旋量理论分析该机构动平台末端约束螺旋,3个转动自由度都被约束,得末端输出运动为三平移。由机构杆件的几何约束关系建立运动方程,求解出机构支链的运动一阶影响系数和二阶综合影响系数。采用凯恩方程建立机构动力学方程,将机构所受外力和惯性力转化为广义主动力和广义惯性力。用ADAMS软件对机构的动力学进行仿真,动平台输出拟合字形运动轨迹,驱动力的大小以及电机的功率损耗情况。为该机构的实际应用研究提供理论依据。

Taking the three-translation parallel mechanism in space as the research object,the spinor theory is adopted to analyze the constrained helix at the end of the moving platform of the mechanism,and the three rotational degrees of freedom are constrained,so that the output motion of the mechanism is a three-translation.The first order influence coefficient and second order comprehensive influence coefficient of the branch chain of the mechanism are solved by establishing the motion equation based on the geometric constraint relation of the member.The mechanism dynamics equation is established by using Kane equation.The external force and inertia force are converted into generalized main force and generalized inertia force.ADAMS software is used to simulate the dynamics of the mechanism,and the moving platform outputs the fitting glyph motion trajectory,the driving force and the power loss of the motor.It provides theoretical basis for the practical application research of this institution.