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基于螺旋理論的球面并聯(lián)機(jī)構(gòu)動(dòng)力學(xué)解析模型
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    摘要:

    提出了一種應(yīng)用螺旋理論建立球面五桿并聯(lián)機(jī)構(gòu)動(dòng)力學(xué)解析模型的方法。應(yīng)用螺旋理論導(dǎo)出了球面五桿機(jī)構(gòu)的一,、二階影響系數(shù),?;趧P恩方程和數(shù)值-符號(hào)方法,,把機(jī)構(gòu)的廣義坐標(biāo)以及構(gòu)件的慣性參數(shù)和幾何參數(shù)處理為符號(hào)量,將動(dòng)力學(xué)模型矩陣的推導(dǎo)問(wèn)題轉(zhuǎn)化為特定條件下運(yùn)用運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)公式求解驅(qū)動(dòng)力的問(wèn)題,建立了球面五桿并聯(lián)機(jī)構(gòu)的動(dòng)力學(xué)解析模型,。給出了動(dòng)力學(xué)模型矩陣元素的解析代碼生成和仿真計(jì)算實(shí)例,,并討論了球面機(jī)構(gòu)的構(gòu)件尺寸參數(shù)和慣性參數(shù)對(duì)機(jī)構(gòu)驅(qū)動(dòng)力矩的影響。

    Abstract:

    An approach to the analytical dynamic model for spherical parallel mechanisms by means of screw theory was presented. Using screw theory, one and two order effect coefficient matrixes for 2-DOF spherical parallel mechanisms were derived. Analytical dynamic model for spherical parallel mechanisms was established based on numeric-symbolic approach and Kane dynamic equation, in which inertia parameters and geometric parameter as well as generalized coordinates were expressed as symbols. Problem of deriving model matrix elements has been transformed into the problem of solving for driving force under specified conditions by kinematic and dynamic formulae. The numerical examples of analytical code generation for dynamic model matrix elements and simulation calculation were given for illustration. The influence of adjustable parameters on dynamic of 2-DOF spherical parallel mechanisms was studied.

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張均富,王進(jìn)戈,徐禮鉅.基于螺旋理論的球面并聯(lián)機(jī)構(gòu)動(dòng)力學(xué)解析模型[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2007,38(4):122-126.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(4):122-126.

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