| 一种3-7R并联解耦机构的运动学与动力学分析 |
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| 引用本文： | 郑建勇,史金飞,张志胜,李为民.一种3-7R并联解耦机构的运动学与动力学分析[J].东南大学学报,2008,24(2). |
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| 作者姓名： | 郑建勇 史金飞 张志胜 李为民 |
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| 作者单位： | [1]东南大学机械工程学院,南京211189 [2]河北工业大学机械工程学院,天津300130 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 基于运动副分析，对一种运动解耦的3-7R并联机构进行了构型分析，并对机构的构型特点进行了总结．该机构由3个正交分布的支链组成，机构的运动副均为转动副，构成了机构动平台在x，y，z三个方向的平动解耦．为验证机构的解耦特性，对机构进行了运动学分析，推导了机构的运动学正／反解、输入／输出的速度和加速度，验证了机构的运动解耦特性．采用一种机构支链分解-综合的方法，利用拉格朗日法建立了机构的动力学模型，验证了机构的力解耦特性．这对机构控制策略、机构设计和轨迹规划等方面的研究具有一定的理论意义．
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| 关 键 词： | 3-7R并联解耦机构 运动学 动力学 解耦 |
Kinematics and dynamics analysis of a 3-7R parallel decoupling mechanism |
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| Zheng Jianyong,Shi Jinfei,Zhang Zhisheng,Li Weimin.Kinematics and dynamics analysis of a 3-7R parallel decoupling mechanism[J].Journal of Southeast University(English Edition),2008,24(2). |
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| Authors: | Zheng Jianyong Shi Jinfei Zhang Zhisheng Li Weimin |
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| Abstract: | One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R(revolute-pair)parallel decoupling mechanism,and the mechanism's characteristics are summarized.The mechanism has three orthogonal distributional branch-chains,and all movable pairs are rotational joints.The movable platform of the mechanism has x,y,z translational decoupling directions.Furthermore,in order to verify the mechanism's decoupling characteristics,the mechanism's kinematics analysis is solved,and the mechanism's direct/inverse kinematics model,input/output velocities and accelerations are deduced,which confirm its decoupling movement characteristics.Finally,one kind of mechanism link decomposed-integrated approach is adopted,and the mechanism's dynamics model is completed with the Lagrange method,which also proves its decoupling force characteristics.All of these works provide significant theory for the further study of the mechanism's control strategy,design,path planning etc. |
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| Keywords: | 3-7R parallel decoupling mechanism kinematics dynamics decoupling |
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