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6—PSS柔性并聯(lián)機(jī)器人動力學(xué)分析與仿真
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國家國防基礎(chǔ)研究項目（JW20*2009035）


Dynamics Analysis and Simulation of 6—PSS Flexible Parallel Robot
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    摘要:

    為了提高風(fēng)洞試驗的安全性，對風(fēng)洞試驗用6—PSS并聯(lián)機(jī)構(gòu)進(jìn)行柔性動力學(xué)分析,。首先，對機(jī)構(gòu)進(jìn)行運(yùn)動學(xué)分析,，得到機(jī)構(gòu)的運(yùn)動學(xué)逆解，利用一階影響系數(shù)法,，推導(dǎo)出機(jī)構(gòu)雅可比矩陣,。其次，在拉格朗日方程基礎(chǔ)上,，采用一種合理簡化模型動力學(xué)建模方法,，給出機(jī)構(gòu)動力學(xué)方程。提出一種簡單實用的柔性動力學(xué)建模方法,，運(yùn)用ADAMS軟件建立機(jī)構(gòu)的柔性動力學(xué)模型，進(jìn)行并聯(lián)機(jī)構(gòu)的柔性動力學(xué)仿真,。對比剛體動力學(xué)和柔性動力學(xué)曲線,，驗證了柔性動力學(xué)仿真的正確性。最后,，分析柔性動力學(xué)中驅(qū)動力和柔性變形等數(shù)據(jù)曲線,，總結(jié)出并聯(lián)機(jī)構(gòu)柔性狀態(tài)下動力學(xué)特征。

    Abstract:

    In order to improve the safety of the wind tunnel test, the flexible dynamics of a 6—PSS parallel mechanism for the wind tunnel was analyzed. At first, inverse kinematics of the parallel mechanism was received based on the analysis of its kinematics, and Jacobian matrix was calculated by using the first-order influence coefficient method. Then, the dynamics equation was solved by using the Lagrange equations and a simplified rational dynamics method. A simple and practical method of flexible dynamic simulation was put forward. The flexible dynamic simulation of the parallel was obtained with ADAMS software. The correctness of flexible dynamics simulation was verified by comparing the kinetics and dynamics date form rigid and flexible analysis. At last, the character of flexible kinetics was summed up by analyzing the driven force and flexible deformation data.

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孫小勇,謝志江,蹇開林,張鈞.6—PSS柔性并聯(lián)機(jī)器人動力學(xué)分析與仿真[J].農(nóng)業(yè)機(jī)械學(xué)報,2012,43(7):194-199,205. Sun Xiaoyong, Xie Zhijiang, Jian Kailin, Zhang Jun. Dynamics Analysis and Simulation of 6—PSS Flexible Parallel Robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(7):194-199,205.

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  • 在線發(fā)布日期: 2012-07-02
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