| 一类平面二自由度并联机构的运动学与动力学分析 |
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| 引用本文： | 熊启家,吴洪涛,王超群,李桥梁,左健民,朱剑英. 一类平面二自由度并联机构的运动学与动力学分析[J]. 机械科学与技术, 2003, 0(Z1) |
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| 作者姓名： | 熊启家 吴洪涛 王超群 李桥梁 左健民 朱剑英 |
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| 作者单位： | 南京航空航天大学机电学院 南京210016(熊启家，吴洪涛，王超群，李桥梁)，南京工程学院机电工程系 南京210045(左健民)，南京航空航天大学机电学院 南京210016(朱剑英) |
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| 摘 要： | 提出了一类新型平面二自由度并联机构 ,可用作二自由度平面运动的工作台 ,并分析了这种机构运动学的正反解 ,在此基础上 ,进一步应用拉格朗日方法对该机构进行动力学建模 ,获得了该机构动力学模型的具体表达式。基于该动力学模型 ,对机构的反向动力学进行仿真计算分析 ,从而获得了运动状态下机构电机的驱动力和各构件的受力情况 ,由此为该机构的设计及具体应用奠定坚实的基础
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| 关 键 词： | 并联机构 拉格朗日方法 反向动力学 仿真 |
The Kinematics and Dynamics Analysis of One Kind of Plain Mechanism of Two Degrees of Freedom |
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| XIONG Qi jia ,WU Hong tao ,WANG Chao qun ,LI Qiao liang ,ZUO Jian min ,ZHU Jian ying. The Kinematics and Dynamics Analysis of One Kind of Plain Mechanism of Two Degrees of Freedom[J]. Mechanical Science and Technology for Aerospace Engineering, 2003, 0(Z1) |
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| Authors: | XIONG Qi jia WU Hong tao WANG Chao qun LI Qiao liang ZUO Jian min ZHU Jian ying |
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| Affiliation: | XIONG Qi jia 1,WU Hong tao 1,WANG Chao qun 1,LI Qiao liang 1,ZUO Jian min 2,ZHU Jian ying 1 |
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| Abstract: | In this paper, a new type of plain parallel platform of 2 degrees of freedom has been put forward, and it can be used as the work platform of plain movement of 2 degrees of freedom. The forward and inverse kinematics have been analyzed, based on it, the Lagrangian approach was used to build the dynamic model of this parallel mechanism, and the Lagrangian equation was obtained. Based on the model, the emulational computing and analysis of inverse dynamic of this mechanism was done, and then, the drive torque of the motor and the load conditions of each part was obtained under its movement conditions. |
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| Keywords: | Parallel mechanism Lagrangian approach Inverse dynamics Emulation |
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