摘要
对3-RSR并联机构的微分运动学及动力学进行了分析,根据支链的结构特征建立了动平台的运动约束方程,以此为基础导出了3-RSR并联机构封闭形式的速度和加速度公式.通过在球铰处将机构拆开,并利用支链上部杆件及动平台与支链上部杆件组合运动链的力和力矩平衡关系确定了球铰处的约束力.最后,由支链下部杆件的力矩平衡关系得到主动关节驱动力矩的解析表达式.
The authors investigate the differential kinematics and dynamics of the 3- RSR parallel mechanism, establish the kinematic constraint equations of the movable platform according to the structural character of the sub-chains, and on this basis obtain the closed-form velocity and acceleration formulas of the mechanism. Through disassembling the mechanism at the spherical joints and using the force or moment equilibrium relations of both upper links of the sub-chains and the combinative chain of movable platform and sub-chain upper links, the authors determine the constraint forces acting on the spherical joints. Finally, the analytic expressions of actuator driving moment are derived by means of the moment equilibrium of the lower links of sub-chains.
出处
《北京工业大学学报》
CAS
CSCD
北大核心
2003年第4期418-423,共6页
Journal of Beijing University of Technology
基金
博士后基金资助项目(中博基[2000-23])
北京市重点实验室开放基金资助项目(KP0100200201)
