摘要
并联机构的运动学是研究其动力学特性和控制系统设计的基础,运动学的求解过程对并联机构后续的运动学和动力学特性分析影响很大。基于欧拉变换法,对4UPS+UPU并联机构进行了运动学分析,推导出位姿、速度和加速度的解析表达式及Jacobian矩阵和Hessian矩阵。通过数值仿真,得到了在给定动平台运动规律下的驱动支链长度、速度和加速度的变化规律。仿真结果表明驱动支链长度、速度和加速度的变化曲线均过渡平滑,有利于驱动杆的控制,有利于保证的机构动态特性。
Kinematics of parallel mechanism is the basic study of the dynamic characteristics and controlling system design, the computation of kinematics of parallel mechanism greatly influences the subsequent analysis of the kinematics and dynamic characteristics. Based on Euler transform method, and through analyzing 4UPS ＋ UPU parallel mechanism kinematics, the position, velocity and acceleration of analytic expression and the Jacobian matrix and Hessian matrix can be got. By numerical simulation, the motion of the driver branched variation of length, speed and acceleration under the given platform motion can be got. Simulation results show that the drive branch length, velocity and acceleration curves are smooth transition, it＇ s beneficial to control the driver branched variation of length and to ensure the dynamic characteristics of institutions.
出处
《科学技术与工程》
北大核心
2015年第12期197-200,共4页
Science Technology and Engineering
基金
国家自然科学基金(51275512)资助
