摘要
以机构支链的动力学为基础,推导3-CRR并联机构的动力学方程。在SolidWorks软件中建立机构的虚拟模型并在CosmosMotion模块中进行动力学仿真。通过动力学方程和仿真两种方法分别计算机构完成规定运动所需要的驱动力,比较发现计算结果基本一致,证明了两种方法的一致性与准确性,为机构的设计制造和动力学控制提供了理论基础。
Based on the dynamics of each limb ,the dynamic equations of a 3-CRR parallel manipulator are derived .Then a visual prototype of the manipulator is built in the software of SolidWorks and the dynamic simulation is shown in the module of CosmosMotion .To the specified motion ,the applied forces are calculated using dynamic equations and simulation .The derived results are nearly same ,so both methods are consistent and accurate .Analysis of dynamics provides theoretical foundation for the design and control of the manipulator .
出处
《机械工程与自动化》
2014年第1期79-80,83,共3页
Mechanical Engineering & Automation
关键词
并联机构
动力学
仿真
Cosmos Motion
parallel manipulator
dynamics
simulation
CosmosMotion
