1. 具有解析式位置正解的三自由度并联 机构逆动力学求解.
- Author
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尤晶晶, 王!恪#, and 沈惠平
- Subjects
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KINEMATICS , *VELOCITY , *EQUATIONS , *DYNAMIC models , *PARTICLE acceleration - Abstract
A new type of 3-DOF parallel mechanism with analytical position forward solution is proposed by the author, and its reverse dynamic equation is solved. Different from t he traditional dynamic paper using inverse kinematics, the displacement, velocity and acceleration equations of the mechanism are established and solved by forward kinematic analysis. T he inverse dynamic equation of t he mechanism is constructed and solved by analyzing the force on each member and based on Newton-Euifler method. Through Matlab example and ADAMS simulation, the inverse dynamics is verified by an example. The maximum driving force error of each moving pair is 1.32%, 5.8% and 5.2% respectively. This paper provides a theoretical basis for the design, manufacture and application of the mechamsm. [ABSTRACT FROM AUTHOR]
- Published
- 2021
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