论文部分内容阅读
首先应用拉格朗日法建立并联机床的动力学模型,由拉格朗日方程展开后得到动力学方程的标准形式;其次结合一个实例,应用Matlab仿真软件对3-TPT并联机器人各杆的杆长与时间的变化及各杆驱动力与时间的变化进行了仿真;最后经分析可知驱动力呈周期性变化,且在加速和减速阶段有突变。所以该并联机床动平台在匀速阶段运动平稳,而在加速和减速阶段存在振动。
Firstly, the dynamic model of parallel machine tool is established by using Lagrange method and the standard form of kinetic equation is obtained by Lagrange’s expansion. Secondly, with an example, the rod of 3-TPT parallel manipulator Length and time and the change of driving force and time of each lever are simulated. Finally, the analysis shows that the driving force changes cyclically, and there is a sudden change in the acceleration and deceleration phases. Therefore, the parallel kinematic platform of the machine tool moves steadily in the uniform speed stage, while there is vibration in the acceleration and deceleration phases.