基于Kane方程的3SPS+1PS并联仿生髋关节试验机动力学研究

针对一种以空间对称3SPS+1PS并联机构为核心模块的髋关节试验机,为分析其动力学特性,基于凯恩方程法,从并联机构的运动学出发,建立了各主动支链与动平台中心点速度、加速度之间的关系。选取动平台中心点的速度和姿态角的导数为广义速率,得到了各构件的偏角速度、偏速度,考虑并联试验机的摩擦环节,建立了库伦摩擦模型;并通过得到的广义惯性力、广义主动力和广义摩擦力建立并联试验机的动力学模型。通过对动力学模型仿真得到主动支链的驱动力和驱动功率,并分析其动力学特性及摩擦力的影响。

Dynamics analysis of 3SPS+1PS parallel hip joint simulator based on the Kane method

In order to analyze the dynamic characteristics of 3SPS+1PS spatial parallel manipulator-the core module of hip joint simulator, the velocity and acceleration relationship between the moving platform and active branched-chains based on the Kane equation were derived. The partial velocity and partial angular velocity of the moving platform were obtained by selecting the velocity and angular velocity as the generalized velocities. Then the coulomb friction model of the parallel manipulator was established considering its friction factor. And the dynamic model was derived by the generalized active forces, inertial forces and frictional force. The driving forces and powers of the active branched-chains were calculated by dynamic simulation, and the dynamic characteristics and the influence of frictional force were analyzed.