| 3-PCR并联减振机构动力学分析 |
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| 引用本文： | 邓鸣,陈安军.3-PCR并联减振机构动力学分析[J].江南学院学报,2012(5):556-560. |
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| 作者姓名： | 邓鸣 陈安军 |
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| 作者单位： | 江南大学机械工程学院,江苏无锡214122 |
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| 摘 要： | 为实现多自由度减振，以3-PCR并联机构为主体制定多维减振平台；利用拉格朗日法建立机构动力学方程。Matlab数值仿真结果表明，三驱动关节的驱动平衡力相位差为（2／3）π，随动平台相对定平台的位置增加，关节的驱动平衡力减小；当定平台边长增加时，驱动平衡力减小，动平台边长增加时，驱动平衡力增大；移动副轴线与定平台夹角减小时，驱动平衡力减小。
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| 关 键 词： | 并联机构 动力学 拉格朗日方程 数值仿真 |
Dynamic Analysis for 3-PCR Multi-Dimensional Damping Platform |
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| DENG Ming,CHEN An-jun.Dynamic Analysis for 3-PCR Multi-Dimensional Damping Platform[J].Journal of Jiangnan College,2012(5):556-560. |
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| Authors: | DENG Ming CHEN An-jun |
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| Institution: | (School of Mechanical Engineering,Jiangnan University, Wuxi 214122,China) |
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| Abstract: | A three translation vibration reduction platform, based on 3-PCR parallel mechanism, was designed. The dynamic equation was established by using Lagrangeg approach and simulated by Matlab. It is shown that the phase difference of driving forces is （2/3）π, along with the position of the mobile platform respect to the fixed base increased, the driving forces decreased. In addition, when the fixed base with sides increased, the driving forces decreased, when the mobile platform with sides increased, the driving forces increased, and when the angles between the P joint axis and fixed base decreased, the driving forces decreased. |
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| Keywords: | parallel mechanism dynamics Lagrange＇s equation simulation |
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