并联机构RSR动力学建模与仿真

Dynamics Modeling and Simulation of Parallel Mechanism RSR

针对一种新型少自由度并联机构RSR进行动力学建模,该机构的动平台通过3个支链与静平台相连,拥有3个转动自由度。在分析并联机构组成的基础上,建立了基于Lagrange方程的工作空间完整动力学模型。利用软件Adams对并联机构RSR进行动力学仿真,得到各个旋转关节各个方向的力矩曲线。利用软件Matlab对所得到的动力学方程进行求解并生成各个方向的力矩曲线,将Matlab结果与Adams仿真曲线力矩值进行对比发现,两者力矩曲线走势相近,且力矩值偏差甚小,最大时仅为5.5N?m,在合理范围内,验证了Adams所建立模型的正确性。

The dynamic modeling of a new type of less degree of freedom parallel mechanism RSR was carried out.The dynamic platform of the mechanism was connected with the static platform through three branch chains and had three rotational degrees of freedom.Based on the analysis of the composition of parallel mechanism,a complete dynamic model of workspace based on Lagrange equation was established;The RSR of the parallel mechanism was simulated in ADAMS,and the torque curves of each rotating joint in each direction were obtained.Then,using the software MATLAB to solve the obtained dynamic equation and generated the torque curve in all directions.After comparing with the torque value of ADAMS simulation curve,it was found that the trend of the two torque curves is similar,and the deviation of torque value is very small,only 5.5 N·m at the maximum,which is within a reasonable range.Therefore,the correctness of the established model is verified by Adams dynamic simulation.