3-PCR并联减振装置的动力学分析

Dynamic Analysis of 3-PCR Parallel Vibration Reduction Device

为实现多维减振,本文采用3-PCR并联机构作为多维减振平台。并联机构动力学模型是多自由度、多参数耦合且高度非线性的复杂系统,首先,利用Lagrange法建立3-PCR并联减振装置的动力学方程;然后,利用Solidworks构建减振装置三维模型,并将模型导入ADAMS中建立虚拟样机模型;最后,利用ADAMS仿真软件对三维减振装置基体进行运动学和动力学仿真分析,得到驱动杆位移、速度、加速度曲线图和各连杆驱动平衡力图。仿真结果表明:3-PCR并联减振装置具有较好的运动稳定性,加速度在变化时也没有存在较大的冲击,便于控制。

To achieve multi-dimensional vibration reduction,this article uses a 3-PCR parallel mechanism as the multi-dimensional vibration reduction platform.The dynamic model of a parallel mechanism is a complex system with multiple degrees of freedom,multiple parameter coupling,and high nonlinearity.Firstly,the Lagrange method is used to establish the dynamic equation of a 3-PCR parallel vibration damping device;Then,use Solidworks to construct a three-dimensional model of the vibration damping device,and import the model into ADAMS to establish a virtual prototype model;Finally,the Kinematics and dynamics simulation analysis of the three-dimensional damping device matrix is carried out by using ADAMS simulation software,and the displacement,velocity,acceleration curves of the driving rod and the driving balance diagram of each connecting rod are obtained.The simulation results show that the 3-PCR parallel damping device has good motion stability,and there is no significant impact when the acceleration changes,making it easy to control.