3-PSR并联机构运动学和动力学分析

建立3-PSR并联机构的约束方程,求解3-PSR并联机构的运动学正逆解。在此基础上,求解3-PSR机构的速度雅可比矩阵以进行动力学分析。采用凯恩法建立动力学模型,以动平台位姿为参数,对机构各构件进行受力分析,并转化为3个驱动滑块的等效驱动力。通过对比MATLAB和ADAMS仿真结果,总结了该机构的基本动力学性能。研究结果为研究该机构的工作空间、功率优化等提供了参考。

Kinematics and Dynamic Analysis of a 3-PSR Parallel Mechanism

The constraint equations of the 3-PSR parallel mechanism were established, and the forward and inverse kinematics solutions of the 3-PSR parallel mechanism were solved. On this basis, the velocity Jacobian matrix of the 3-PSR mechanism was solved for dynamic analysis. The dynamic model was established by using Kane method. The pose of the moving platform were taken as parameters, the force exerted on each component of the mechanism was analyzed and then converted into the equivalent driving force of three sliding blocks. By comparing the simulation results of MATLAB and ADAMS, the basic dynamic performance of the mechanism was summarized. The research results provide a reference for studying the workspace and power optimization of the mechanism.