并联机构虚拟样机的构建与仿真

通过以3-TPT并联机构作为研究对象,建立该并联机构的运动学正、逆解方程,并利用LabVIEW和MATLAB软件进行运动学逆解仿真,从而得到伸缩杆杆长理论变化曲线.在ADMAS/View环境中,构建该并联机构的虚拟样机,并对其进行运动仿真,得到各杆杆长的变化曲线.通过对比伸缩杆杆长理论变化曲线,验证了运动学逆解方程的准确性.同时也说明该并联机构在空间运动时,具有良好的平稳性.除此之外,利用虚拟样机技术对并联机床运动学进行研究,避免了复杂的数学建模与推导,从而大大缩减了运动学分析工作量.

The establishment and simulation of the parallel mechanism virtual prototype

By using 3-TPT parallel mechanism for the study, the positive solutions and negative solutions of the kinematics equations were established. And then the negative solutions of the kinematics were simulated by using LabVIEW and MATLAB software and the theoretical curves of rod length could be got. The parallel mechanism virtual prototype was established and its movement was simulated in ADAMS/View environment. From the results, the curves of rod length could be got. By comparing with the theoretical curves, the negative solutions of the kinematics equations are proved to be right. And it also indicates that the stationarity is well when the mechanism moves in space. In addition, complex mathematical modeling and derivation could be avoided by using virtual prototyping technology to study the parallel machine tool kinematics. Thus the workload of the kinematic analysis is reduced greatly.