并联三自由度运动平台动力学分析.pdf

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并联三自由度运动平台动力学分析
付景顺 1,郎晓辉 1,张弘 2
(1. 沈阳工业大学,沈阳 110870; 2. 沈阳装备制造学校,沈阳 110026)
摘要:本文由三自由度并联机构的结构入手,介绍了一种一平移两转动的三自由度运动模拟平台,此平台通过改变三
个可伸缩的支撑杆的长度来实现模拟平台的特定位姿。应用拉格朗日方程建立动力学模型,分析了机构的结构参数与
驱动力的关系,为机械结构设计提供了依据。
关键词:三自由度;并联机构;动力学分析
中图分类号:TH113 文献标识码:A 文章编号:1004-7204(2013)06-0039-03
Dynamic Analysis of a 3-DOF Parallel Platform
FU Jing-shun1,LANG Xiao-hui1,ZHANG Hong2
( University of Technology,Shenyang 110870;
Equipment Manufacturing School, Shenyang 110026)
Abstract:From the structure of three degrees of freedom parallel mechanism, a three degrees of
freedom motion simulation platform with one translational and two rotational is analyzed in this
paper. This platform simplifies the structure by changing the length of the three collapsible support
rods to achieve a specific position and orientation of the simulation platform. Based on Lagrange’s
equation, the dynamic model of the 3-DOF parallel platform was established. The relation between system
parameters and drive force of the mechanism was obtained, thus provides basis for the mechanical
structural design.
Key words��three degrees of freedom;parallel mechanism;dynamic analysis
引言 1 运动平台自由度的计算
并联三自由度运动模拟平台广泛应用于仿真领域, 并联三自由度运动平台,其结构简图如图 1 所示。
能够模拟多种现实中的两转动一平移的三自由度娱乐项该机构上下平台支点连接起来后是两个全等的等边三角
目[1]。由此运动平台配合预设的虚拟动画及软件功效, 形 abc 和 ABC��三条边的长度均为�