| 两自由度球面并联机构动力学分析(英文) |
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| 引用本文： | 李成刚,王化明,朱剑英.两自由度球面并联机构动力学分析(英文)[J].南京航空航天大学学报(英文版),2009,26(2):95-100. |
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| 作者姓名： | 李成刚 王化明 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,中国 |
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| 基金项目： | 国家自然科学基金，江苏省数字化制造技术重点实验室开放课题(HGDML-0604)资助项目.Supported by the National Natural Science Foundation of China，the Jiangsu Province Key Lab on Digital Manufacture Project |
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| 摘 要： | 运用旋量理论的方法推导出两自由度球面并联机构的速度、加速度解析表达式,在此基础上依据虚功原理和旋量的互易积形式建立了该机构的动力学模型,得到了两驱动电机的驱动转矩方程.通过对动力学模型的变换,获得了动力学方程的形位空间模式及相关系数.通过一个实例表明,动力学方程中的惯性系数和重力项占有的比重较大,而哥氏力系数和离心力系数占有的比重较小,他们在数值上相差一个数量级.但是否可以忽略后者需要判断速度的大小,只有当机构运动速度较小时才可以将哥氏力和离心力忽略.
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| 关 键 词： | 运动学 机构 动力学分析 旋量理论 球面并联机构 |
DYNAMICS ANALYSIS OF 2-DOF SPHERICAL PARALLEL MECHANISM |
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| Li Cheng gang,Wang Huaming,Zhu Jianying.DYNAMICS ANALYSIS OF 2-DOF SPHERICAL PARALLEL MECHANISM[J].Transactions of Nanjing University of Aeronautics & Astronautics,2009,26(2):95-100. |
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| Authors: | Li Cheng gang Wang Huaming Zhu Jianying |
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| Institution: | College of Mechanical and Electrical Engineering;NUAA;29 Yudao Street;Nanjing;210016;P. R. China |
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| Abstract: | The analytical formulations of the velocity and the acceleration of a 2-DOF spherical parallel mechanism are derived by the screw theory. Based on building its dynamics model by the principle of virtual work and reciprocal product of the screw, the equation of the motor moment is obtained. Through the transformation of dynamics model, the configuration space method of the dynamics equation and the corresponding coefficients are presented. Finally, the result of an example shows that the inertia moment and t... |
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| Keywords: | kinematics mechanics dynamics analysis screw theory spherical parallel mechanism |
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