摘要
针对一种具有解析位置正解的新型三自由度并联机构,求解了其逆向动力学方程。不同于传统的使用逆运动学的动力学研究,通过正向运动学分析,建立并求解了机构的位移、速度、加速度方程;基于牛顿-欧拉法,通过对各杆件的受力分析,构建并求解了机构的逆向动力学方程;通过Matlab编程计算与ADAMS仿真,对逆向动力学进行了算例验证,各移动副的驱动力最大误差分别为:1.32%,5.8%,5.2%,且动力学求解结果满足实时性要求。研究结果为该机构的设计制造和应用提供力学上的理论依据。
A new type of 3-DOF parallel mechanism with analytical position forward solution is proposed by the author,and its reverse dynamic equation is solved.Different from the traditional dynamic paper using inverse kinematics,the displacement,velocity and acceleration equations of the mechanism are established and solved by forward kinematic analysis.The inverse dynamic equation of the mechanism is constructed and solved by analyzing the force on each member and based on Newton-Euler method.Through Matlab example and ADAMS simulation,the inverse dynamics is verified by an example.The maximum driving force error of each moving pair is 1.32%,5.8%and 5.2%respectively.This paper provides a theoretical basis for the design,manufacture and application of the mechanism.
作者
尤晶晶
王恪
沈惠平
YOU Jingjing;WANG Ke;SHEN Huiping(School of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China;School of Mechanical Engineering and Rail Transit,Changzhou University,Changzhou 213164,China)
出处
《常州大学学报（自然科学版）》
CAS
2021年第4期83-92,共10页
Journal of Changzhou University：Natural Science Edition
基金
国家自然科学基金资助项目(51475050)
江苏省自然科学基金资助项目(BK20161192)。
