两转一移并联平台伴随运动力学性能研究

Study on Mechanical Properties of Adjoint Motion of Two Rotation and One Shift Parallel Platform

两转一移型并联平台运动中可能会产生伴随运动。伴随运动的有无影响着平台构件力学性能,且对其研究甚少。为探究伴随运动对平台构件受力的影响,以两种有防扭臂的三自由度平台为研究对象,分别通过理论和仿真方法分析其在有、无伴随运动时的力学性能。研究结果表明,含有防扭臂装置的平台在有、无伴随运动时,不同位置处防扭臂铰链点的受力大小明显不同。

The motion of two-turn-one-shift parallel platform may produce accompanying motion. The presence or absence of accompanying motion affects the mechanical properties of platform components, and it is rarely studied. In order to explore the influence of adjoint motion on the stress of platform components, this paper takes two kinds of three-degree-of-freedom platforms with anti-torsional arms as research objects, and analyzes their mechanical properties with and without adjoint motion through theoretical and simulation methods respectively. The results of the study show that the forces on the hinge points of the anti-twist arm are obviously different in different positions of the platform with and without accompanying motion.