摘要
介绍了一种新型3-PUU并联机构,对其运动学方程进行分析,根据机构特征推导出转动支链和动平台的速度公式;采用Lagrange方程建立机构的动力学模型;分别在机构的3个移动支链上施加运动,通过计算机模拟,得到动平台的运动轨迹、受力、速度和加速度随时间变化的关系。
A new type 3-PUU parallel mechanism was introduced, and the kinematics equation, the formulas of velocity and acceleration of turning sub - chains and movable platform were established and analyzed based on its structural character. The dynamics model was established through using Lagrange equation. The moving condition of movable platform, such as movement track, force, velocity and acceleration was obtained through driving three moving sub - chains by relevant motions.
出处
《机床与液压》
北大核心
2007年第9期17-19,共3页
Machine Tool & Hydraulics
基金
国家自然科学基金(50375067)
高等学校博士学科点专项科研基金资助课题(20050299002)
