摘要
通过建立动力学方程和欧拉方程,对全新结构的2PPPPS-R-2PPPPS串并联机构整体各铰点处的受力状况进行了全面分析,已知机构在给定空间位置和姿态下输出端的受力、主轴的运动参数、连杆的运动参数、水平和垂直运动滑块的运动参数时,可以方向求解机构的动力学反解;已知机构在给定空间位置和姿态下的输出端力螺旋时,利用多刚体力螺旋理论来反向求解输入各铰点处的力螺旋,从而得到机构静力学分析的反向解,通过计算机语言编程计算和绘图得到直观有效的结果数据。
By means of establishing the dynamics equation and Euler equation for the all new structured 2PPPPS - R - 2PPPPS series parallel mechanism, an all sided analysis was carried through on force bearing status on each hinge point of the entire body of the mechanism. While the force borne at the output end of mechanism under given spatial position and gesture, the motion parameter of main shaft, the motion parameter of connecting rod and the motion parameters of horizontal and vertical moving sliders were all known,the dynamics reverse solution of mechanism can be solved directionally. While the force screw at the outputting end of mechanism under given spatial position and gesture was known, the force screw inputted on to the place of each hinge point was solved reversely by the use of theory of multi-rigid-body force screw; and consequently the reverse solution on the statics analysis of the mechanism was obtained, and by means of the computer language programming calculation and drafting to obtain the visual and effective data of result.
出处
《机械设计》
CSCD
北大核心
2008年第4期32-38,共7页
Journal of Machine Design
关键词
串并联机器人
动力学
静力学
反解
力螺旋
series parallel
dynamics
statics
reverse solution
force screw
