[1]汤耀,沈惠平,曾博雄,等.一种零耦合度及部分运动解耦的空间2T1R并联机构动力学建模[J].常州大学学报(自然科学版),2022,34(01):48-59.[doi:10.3969/j.issn.2095-0411.2022.01.006]
　TANG Yao,SHEN Huiping,ZENG Boxiong,et al.Dynamics Modeling of a Spatial 2T1R Parallel Mechanism with Zero Coupling Degree and Partial Motion Decoupling[J].Journal of Changzhou University(Natural Science Edition),2022,34(01):48-59.[doi:10.3969/j.issn.2095-0411.2022.01.006]
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一种零耦合度及部分运动解耦的空间2T1R并联机构动力学建模()
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常州大学学报(自然科学版)[ISSN:2095-0411/CN:32-1822/N]

卷:
第34卷
期数:
2022年01期
页码:
48-59
栏目:
机械制造及其自动化
出版日期:
2022-01-28

文章信息/Info

Title:
Dynamics Modeling of a Spatial 2T1R Parallel Mechanism with Zero Coupling Degree and Partial Motion Decoupling
文章编号:
2095-0411(2022)01-0048-12
作者:
汤耀; 沈惠平; 曾博雄; 杨廷力
(常州大学现代机构学研究中心,江苏常州213164)
Author(s):
TANG Yao;  SHEN Huiping;  ZENG Boxiong;  YANG Tingli
(Research Center for Advanced Mechanism Theory, Changzhou University, Changzhou 213164, China)
关键词:
并联机构;  逆向运动学;  动力学模型;  虚功原理;  序单开链法
Keywords:
parallel mechanism;  reverse kinematics;  dynamic model;  principle of virtual work;  ordered-single-open-chain method
分类号:
TH 112
DOI:
10.3969/j.issn.2095-0411.2022.01.006
文献标志码:
A
摘要:
针对一种零耦合度的空间2T1R并联机构,求解各构件速度与驱动副速度之间的关系矩阵; 运用基于虚功原理的序单开链法,建立了机构的动力学模型,求解了机构的驱动力及连接2个SKC连接处运动副的支反力,进行算例验证; 并就动力学方法求解的实时性,通过对比选用两种不同广义坐标时动力学方程求解所用的时间,给出优选广义坐标的建议。研究结果为该机构的设计和动力学优化奠定了基础。
Abstract:
For a spatial 2T1R parallel mechanism(PM)with zero coupling degree, the relationship matrix between the speed of each component and the speed of driving pair was analyzed firstly. Then, the dynamic model of the PM was established by using the ordered-single-open-chain method based on the principle of virtual work, and the driving force of the PM and the reaction force connecting two SKC joints were solved. Finally, through the theoretical calculation of Matlab and the simulation of Adams, the driving force and the important reaction force were verified by examples. By comparing the time of dynamic solution under two different generalized coordinates, the optimal generalized coordinate was selected and the suggestion of optimizing the generalized coordinates was given. The research results provided the theoretical basis of mechanics for the practical design, manufacture and application of the PM.

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备注/Memo

备注/Memo:
收稿日期: 2021-10-20。
基金项目: 国家自然科学基金资助项目(51975062)。
作者简介: 汤耀(1996—), 男, 江苏徐州人, 硕士生。通信联系人: 沈惠平(1965—), E-mail: shp65@126.com
更新日期/Last Update: 1900-01-01