论文部分内容阅读
针对一种以空间对称3HUS+S并联机构为核心模块的髋关节试验机,为分析其动力学特性,从并联机构的运动学出发,建立了各直线模组滑块及连接杆与动平台速度、加速度之间的关系。通过得到的动平台质心、连接杆质心及直线模组质心的作用力和作用力矩,基于虚功原理建立了该并联试验机的动力学模型;通过对动力学模型仿真得到直线模组的驱动力矩和驱动功率,为该试验机动力学特性的深入分析和控制策略的研究提供了参考。
In order to analyze the dynamic characteristics of a hip joint testing machine which is based on the space symmetric 3HUS + S parallel mechanism, the kinematic characteristics of the parallel mechanism are studied. The linear module slider and the connecting rod are compared with the moving platform speed , The relationship between acceleration. The dynamic model of the parallel testing machine is established based on the virtual work principle through the obtained centroid of the moving platform, the center of mass of the connecting rod and the centroid of the linear module. The driving torque of the linear module is obtained through the simulation of the dynamic model And driving power for the testing machine dynamic characteristics of in-depth analysis and control strategies to provide a reference.