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运用旋量理论的方法推导出两自由度球面并联机构的速度、加速度解析表达式,在此基础上依据虚功原理和旋量的互易积形式建立了该机构的动力学模型,得到了两驱动电机的驱动转矩方程。通过对动力学模型的变换,获得了动力学方程的形位空间模式及相关系数。通过一个实例表明,动力学方程中的惯性系数和重力项占有的比重较大,而哥氏力系数和离心力系数占有的比重较小,他们在数值上相差一个数量级。但是否可以忽略后者需要判断速度的大小,只有当机构运动速度较小时才可以将哥氏力和离心力忽略。
The analytical expression of velocity and acceleration of a two-degree-of-freedom spherical parallel mechanism is deduced by the method of spin theory. On the basis of this, a dynamic model of the mechanism is established based on the principle of virtual work and the reciprocal product of the spin, and two Drive motor torque equation. Through the transformation of dynamic model, the shape space model and the correlation coefficient of kinetic equation are obtained. An example shows that the inertia coefficient and gravity term in the kinetic equation occupy a larger proportion, while the Coriolis coefficient and the centrifugal force share occupy a smaller proportion, and they differ in magnitude by an order of magnitude. But whether you can ignore the latter need to determine the size of the speed, only when the body movement speed is small Coriolis force and centrifugal force can be ignored.