空间3-UPS并联机构关节约束反力分析

Analysis of Joint Constraint Reaction of Spatial 3-UPS Parallel Mechanism

针对空间机构系统关节力计算复杂,对3-UPS并联机构关节约束反力进行力学分析,在考虑拉格朗日乘子与空间机构约束反力关系的情况下,基于拉格朗日增广法计算了该空间并联机构的关节反力,同时用牛顿欧拉法对其计算结果进行验证,通过Adams软件与Matlab软件联合仿真,并将两种计算结果进行对比分析。结果表明,两种方法计算所得该空间机构关节约束反力的大小基本一致,误差在0.5%~1.2%之间,误差相对较小,验证了通过引入拉格朗日乘子,运用拉格朗日增广法计算空间机构关节约束反力方法的正确性,为空间机构力学分析提供了一定的参考依据。

In light of the complexity of calculation of joint force of spatial mechanism system,a mechanical analysis of joint constraint reaction of 3-UPS Parallel mechanism is carried out.Considering the relationship between Lagrange multiplier and constraint reaction of spatial mechanism,the joint reaction of the spatial parallel mechanism is calculated based on Lagrange augmented method.At the same time,the calculation results are verified by Newton Euler method and Adams and Matlab Software co-simulation,and a comparative analysis of the two results is conducted.The results show that the size of the joint constraint reaction of the spatial mechanism calculated by the two methods is basically the same,and the error is between 0.5%and 1.2%,which is relatively small.The correctness of the method of using Lagrange multiplier and Lagrange augmented method to calculate the joint constraint reaction of spatial mechanism is verified,and a certain reference for the mechanical analysis of spatial mechanism is provided.