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| 基于牛顿欧拉法的2UPS-2RPS并联机构逆动力学分析 | |
| 引用本文： | 冯志友,张燕,杨廷力,张策.基于牛顿欧拉法的2UPS-2RPS并联机构逆动力学分析[J].农业机械学报,2009,40(4). |
| 作者姓名： | 冯志友 张燕 杨廷力 张策 |
| 作者单位： | 1. 天津工业大学天津市现代机电装备技术重点实验室,天津,300160 2. 天津工程师范学院天津市高速切削与精密加工重点实验室,天津,300222 3. 中国石化集团金陵石化公司,南京,210033 4. 天津大学机械工程学院,天津,300072 |
| 摘 要： | 2UPS-2RPS为具有两种不同支链结构的4自由度并联机构,具有结构简单,制造成本低,控制容易等优点.由于自由度数目少于6,机构的支链不仅传递驱动力,同时还向末端提供约束力,因此在对机构动力学控制及尺度和截面参数动力学优化时,驱动力和约束力分析都是必要的.本文运用牛顿欧拉法建立了该机构的逆动力学方程.在给定动平台的运动规律和外力后,通过动力学方程求解得出所需驱动力和约束力矩,并给出仿真实例. |
| 关 键 词： | 并联机构 逆动力学 驱动力 约束力 |
Inverse Dynamics of a 2UPS-2RPS Parallel Mechanism by Newton-Euler Formulation |
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| Feng Zhiyou,Zhang Yan,Yang Tingli,Zhang Ce.Inverse Dynamics of a 2UPS-2RPS Parallel Mechanism by Newton-Euler Formulation[J].Transactions of the Chinese Society of Agricultural Machinery,2009,40(4). | |
| Authors: | Feng Zhiyou Zhang Yan Yang Tingli Zhang Ce |
| Institution: | 1.Advanced Mechatronics Equipment Technology Tianjin Area Major Laboratory;Tianjin Polytechnic University;Tianjin 300160;China 2.High Speed Cutting and Precision Finishing Tianjin Area Major Laboratory;Tianjin University of Technology and Education;Tianjin 300222;China 3.Jinling Petrochemical Corporation;Sinopec Group;Nanjing 210033;China 4.School of Mechanical Engineering;Tianjin University;Tianjin 300072;China |
| Abstract: | 2UPS-2RPS is a 4-DOF parallel mechanism with two different structure limbs.It has the advantages of simple mechanical structure,low manufacturing cost,and simple control algorithm.The number of its DOF is less than six,the limbs not only transmitting driving force but also constraint force at the same time.So both the required driving and constraint force analysis are necessary in the dynamic control and optimization design of the mechanism.Inverse dynamics equations of the mechanism were modeled by using t... |
| Keywords: | Parallel mechanism Inverse dynamics Driving force Constraint force |
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