摘要
针对六自由度并联机构的运动学特性,建立了并联机构简化模型,通过坐标变换确定了动平台与定平台的位姿关系,推导了机构的运动学方程,利用Adams软件对模型进行了运动学仿真。仿真结果表明:六自由度并联机构能够按照预定的轨迹运动,机构运行平稳,具有良好的运动特性。
Based on kinematic characteristics,the simplified model of parallel mechanisms is established.The coordinate transformation determines the position of the moving platform and the fix platform,deriving its kinematic equation.The software Adams is used for kinematic simulation of the model.The results show that the 6-DOF parallel mechanism can move according to the designed track,leading to smooth operation,with good kinematic characteristics.
作者
李团飞
刘飞
赵俊峰
王杰
LI Tuanfei;LIU Fei;ZHAO Junfeng;WANG Jie(Science and Technology Information of Luoyang,Luoyang 471003,China;CBMI Construction Co.Ltd.,Tangshan 063000,China;Luoyang YTO Zhongcheng Fittings Manufacture Co.Ltd.,Luoyang 471003,China)
出处
《洛阳理工学院学报（自然科学版）》
2022年第2期53-58,共6页
Journal of Luoyang Institute of Science and Technology：Natural Science Edition
基金
“十三五”国家重点研发计划项目(2017YFD070020402).
