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应用模块化计算方法研究了平面三自由度并联机构的逆动力学,计算效率能够满足实时控制的要求。首先对平面三自由度并联机构进行了系统分类和描述,通过对各类支链的运动学及动力学逆解的分析,应用Newton-Euler法建立平面三自由度并联机构的逆动力学模型,提出了平面三自由度并联机构动力学逆解模块化计算软件的系统构架,结果表明该方法适用于各类平面三自由度并联机构的逆动力学自动建模和可重构设计,并给出了一台新型并联机床的分析实例。
The inverse dynamics of planar three-DOF parallel mechanism is studied by using modular calculation method, and the computational efficiency can meet the requirements of real-time control. Firstly, the planar three-DOF parallel mechanism is systematically classified and described. By analyzing the kinematics and dynamics of various branches, an inverse dynamic model of planar three-DOF parallel mechanism is established by Newton-Euler method. The system architecture of modularized calculation software for inverse kinematics of planar three-DOF parallel mechanism is proposed. The results show that the proposed method is suitable for the automatic modeling and reconfigurable design of inverse kinematics of planar three-DOF parallel mechanism. Analysis of a new parallel machine tool.