| 改进型Delta并联机构的动力学分析及仿真 |
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| 引用本文： | 王岩,徐东涛.改进型Delta并联机构的动力学分析及仿真[J].辽宁科技大学学报,2014(5):499-503. |
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| 作者姓名： | 王岩 徐东涛 |
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| 作者单位： | 1. 长春市矩型焊管有限责任公司,吉林 长春,130032
2. 辽宁科技大学 机械工程与自动化学院,辽宁 鞍山,114051 |
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| 摘 要： | 以三自由度平动并联机构为研究对象，列出机构的速度雅克比矩阵，计算出了动平台和各个构件的速度、加速度；利用虚位移原理推导出机构的动力学方程；通过把拆杆法、虚位移原理及牛顿-欧拉方法结合起来，提出求出机构运动副约束力的新方法。理论分析表明，以上方法形式简单、计算量小、不需要考虑耦合影响。用ADAMS软件建立该机构虚拟样机，并作了动力学仿真，仿真结果验证了理论计算的正确性。
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| 关 键 词： | Delta并联机构 动力学 虚位移原理 Newton-Euler法 |
Dynamic analysis and simulation of modified Delta parallel mechanism |
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| WANG Yan,XU Dongtao.Dynamic analysis and simulation of modified Delta parallel mechanism[J].Journal of University of Science and Technology Liaoning,2014(5):499-503. |
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| Authors: | WANG Yan XU Dongtao |
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| Institution: | WANG Yan, XU Dongtao ( 1 .Changehun Rectangular Welded Tube Co Ltd, Changchun 130032, China; 2.School of Mechanical Engineering ＆ Automation, University of Science and Technology Liaoning, Anshan 114051, China) |
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| Abstract: | Aimed at three-translational parallel mechanism,the velocity Jacobi-matrix is formulated,the velocity and acceleration of the moving platform and all components are calculated. The principle of virtual work is applied to solve the dynamics equation. By means of combining separating bar method,principle of virtual work and Newton-Euler method,a new method of solving the constraint force of kinematic pair is proposed. The theoretical analysis shows that the above method is simple,easy to solve,and no need to consider the coupling effect. The dynamics simulation is carried out by ADAMS software,the simulation results verify the correctness of the theoretical calculation. |
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| Keywords: | modified Delta mechanism dynamics principle of virtual work Newton-Euler method |
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