| 4-UPS/UPR并联机构动力学分析 |
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| 引用本文： | 耿明超,赵铁石,王唱,刘晓,苑飞虎.4-UPS/UPR并联机构动力学分析[J].农业机械学报,2014,45(8):299-306. |
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| 作者姓名： | 耿明超 赵铁石 王唱 刘晓 苑飞虎 |
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| 作者单位： | 燕山大学河北省并联机器人与机电系统实验室,燕山大学先进锻压成形技术与科学教育部重点实验室;燕山大学河北省并联机器人与机电系统实验室,燕山大学先进锻压成形技术与科学教育部重点实验室;燕山大学河北省并联机器人与机电系统实验室;燕山大学河北省并联机器人与机电系统实验室;燕山大学河北省并联机器人与机电系统实验室,燕山大学先进锻压成形技术与科学教育部重点实验室 |
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| 基金项目： | 国家自然科学基金资助项目（50975244） |
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| 摘 要： | 基于车辆在行驶过程中的运动特性,提出了一种耦合型4-UPS/UPR并联机构作为车辆运动模拟台。应用螺旋理论分析了中间约束分支对上平台的约束作用,并基于Grassmenn线几何分析了机构的铰链点布置对机构奇异的影响。利用旋转矩阵的运动算子功能对机构的耦合运动特性进行了分析。基于旋量速度、加速度,建立了机构运动学模型,并利用刚体的牛顿-欧拉公式建立了机构(包括各个分支)详尽的动力学模型,并给出了相应的数值算例进行验证。
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| 关 键 词： | 并联机构 旋量 动力学 奇异位形 |
| 收稿时间： | 2013/7/25 0:00:00 |
4-UPS/UPR Parallel Mechanism Dynamic Analysis |
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| Geng Mingchao,Zhao Tieshi,Wang Chang,Liu Xiao and Yuan Feihu.4-UPS/UPR Parallel Mechanism Dynamic Analysis[J].Transactions of the Chinese Society of Agricultural Machinery,2014,45(8):299-306. |
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| Authors: | Geng Mingchao Zhao Tieshi Wang Chang Liu Xiao and Yuan Feihu |
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| Institution: | Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University;Key Laboratory of Advanced Forging & Stamping Technology and Science, Yanshan University;Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University;Key Laboratory of Advanced Forging & Stamping Technology and Science, Yanshan University;Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University;Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University;Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University;Key Laboratory of Advanced Forging & Stamping Technology and Science, Yanshan University |
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| Abstract: | Based on the motion characters of the running cars, a novel coupling 4-UPS/UPR parallel mechanism is proposed as a car motion simulation platform. Based on the screw theory, the constraints of the middle constraint limb on the upper platform are analyzed. The singular, which is related to the configuration of the hinges, is analyzed using Grassmenn geometry. The kinematic operator function of the rotation matrix is employed to analyze the coupling motion characters of the parallel mechanism. The kinematic model of the mechanism is established using screw velocity and acceleration. The detailed dynamic model, including all the limbs, is gotten by the Newton-Euler Equation on rigid-body. And the corresponding numerical example is given to demonstrate the above theory. |
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| Keywords: | Parallel mechanism Screw Dynamics Singular configuration |
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