基于螺旋理论的球面并联机构动力学解析模型

提出了一种应用螺旋理论建立球面五杆并联机构动力学解析模型的方法。应用螺旋理论导出了球面五杆机构的一、二阶影响系数。基于凯恩方程和数值一符号方法，把机构的广义坐标以及构件的惯性参数和几何参数处理为符号量，将动力学模型矩阵的推导问题转化为特定条件下运用运动学和动力学公式求解驱动力的问题，建立了球面五杆并联机构的动力学解析模型。给出了动力学模型矩阵元素的解析代码生成和仿真计算实例，并讨论了球面机构的构件尺寸参数和惯性参数对机构驱动力矩的影响。

Analytical Dynamic Model for Spherical Parallel Mechanisms Based on Screw Theory

An approach to the analytical dynamic model for spherical parattet 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.