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6-3-3并聯(lián)機(jī)構(gòu)逆動(dòng)力學(xué)分析與仿真
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    摘要:

    建立了6自由度6-3-3并聯(lián)機(jī)構(gòu)逆運(yùn)動(dòng)學(xué)模型,，基于剛體動(dòng)力學(xué)牛頓-歐拉法推導(dǎo)出了該機(jī)構(gòu)逆動(dòng)力學(xué)方程組,，并用矩陣QR分解方法求解了該動(dòng)力學(xué)方程組,，給出了逆動(dòng)力學(xué)仿真程序開發(fā)思路并通過Matlab軟件加以實(shí)現(xiàn),，通過空載和有載荷作用條件下的算例仿真和分析比較,，驗(yàn)證了該動(dòng)力學(xué)模型的正確性,。

    Abstract:

    The model of inverse kinematics of six DOF (degree of freedom) 6-3-3 parallel mechanism was established in this paper. The dynamic equations of this parallel mechanism were derived from Newton-Euler approach of rigid-body dynamics, and the matrix QR decomposition method for solving the dynamic equations was presented. Then, the inverse dynamic behavior of this parallel mechanism was simulated by computer software. Finally, validity of this dynamic model was verified by simulation and comparison of two examples. The results showed that dynamic behavior of the parallel mechanism is practicable and can expedite the design process.

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高洪,趙韓.6-3-3并聯(lián)機(jī)構(gòu)逆動(dòng)力學(xué)分析與仿真[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2007,38(9):130-133.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(9):130-133.

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