| 6-3-3并联机构逆动力学分析与仿真 |
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| 引用本文： | 高洪,赵韩. 6-3-3并联机构逆动力学分析与仿真[J]. 农业机械学报, 2007, 38(9): 130-133 |
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| 作者姓名： | 高洪 赵韩 |
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| 作者单位： | 合肥工业大学机械与汽车工程学院;合肥工业大学机械与汽车工程学院 |
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| 摘 要： | 建立了6自由度6-3-3并联机构逆运动学模型,基于刚体动力学牛顿-欧拉法推导出了该机构逆动力学方程组,并用矩阵QR分解方法求解了该动力学方程组,给出了逆动力学仿真程序开发思路并通过Matlab软件加以实现,通过空载和有载荷作用条件下的算例仿真和分析比较,验证了该动力学模型的正确性.
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| 关 键 词： | 并联机构 逆动力学分析 牛顿-欧拉法 仿真 |
| 修稿时间： | 2006-04-28 |
Inverse Dynamic Analysis and Simulation of 6-3-3 Parallel Mechanism with Six-degree-of-freedom |
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| Gao Hong,Zhao Han. Inverse Dynamic Analysis and Simulation of 6-3-3 Parallel Mechanism with Six-degree-of-freedom[J]. Transactions of the Chinese Society for Agricultural Machinery, 2007, 38(9): 130-133 |
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| Authors: | Gao Hong Zhao Han |
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| Affiliation: | Hefei University of Technology |
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| Abstract: | The model of inverse kinematics of six DOF (degree of freedom) 6-33 parallel mechanism was established in this paper. The dynamic equations of this parallel mechanism were derived from Newton-Euler approach of rigid-body dynamics, and the matrix QR decomposition method for solving the dynamic equations was presented. Then, the inverse dynamic behavior of this parallel mechanism was simulated by computer software. Finally, validity of this dynamic model was verified by simulation and comparison of two examples. The results showed that dynamic behavior of the parallel mechanism is practicable and can expedite the design process. |
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| Keywords: | Parallel mechanism Inverse dynamic analysis Newton-Euler approach Simulation |
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