DYNAMIC ANALYSIS OF 6-TPS PARALLEL MECHANISM

GAO XiuLan; ZHANG MinYing; ZHANG FengTao; SHI GeMeng; LU KaiJiang

doi:10.16579/j.issn.1001.9669.2017.05.004

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DYNAMIC ANALYSIS OF 6-TPS PARALLEL MECHANISM

更新时间：2022-09-22

- DYNAMIC ANALYSIS OF 6-TPS PARALLEL MECHANISM
- Journal of Mechanical Strength Vol. 39, Issue 5, Pages: 1019-1025(2017)
- 作者机构：
  
  1. 宝鸡文理学院
  2. 新疆轻工职业技术学院
- 作者简介：
- 基金信息：
- DOI：10.16579/j.issn.1001.9669.2017.05.004
  CLC：
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GAO XiuLan, ZHANG MinYing, ZHANG FengTao, et al. DYNAMIC ANALYSIS OF 6-TPS PARALLEL MECHANISM. [J]. 39(5):1019-1025(2017)
DOI：

GAO XiuLan, ZHANG MinYing, ZHANG FengTao, et al. DYNAMIC ANALYSIS OF 6-TPS PARALLEL MECHANISM. [J]. 39(5):1019-1025(2017) DOI： 10.16579/j.issn.1001.9669.2017.05.004.

摘要

建立了6-TPS并联机构全部构件和关节与动平台速度加速度的解析关系。用凯恩法建立机构运动微分方程,该方程采用了机构输出速度作为独立变量,可作为动力学控制模型对机构进行完全闭环控制。利用矩阵范数导出了主动关节驱动力相对变化量与惯量矩阵以及加速度相对变化量之间的摄动关系,提出量化机构加速度性能和动力学优化的指标。通过实例得出机构加速度性能指标是以惯量矩阵在工作空间的奇异轨迹为极限的结论,这可以用来选取动力学性能优良的工作空间。

Abstract

Establish the moving-platform velocity and acceleration relationship between all members and joints of 6-TPS parallel mechanism. The mechanism output speed is used as the independent variable,and set up the mechanism motion differential equations by Kane method. The equation can be used as a dynamic control model and be completely closed loop control of the mechanism. Using matrix norm,derive the perturbation relation of relative variation between the active joint driving force and inertia matrix and the acceleration,put forward the quantitative index of the mechanism acceleration performance and dynamic optimization. Conclude that mechanism acceleration performance indicators is in the singular path limit of the inertia matrix in the working space by an example,and can be used to select the working space of excellent dynamic performance.

关键词

并联机构动力学加速度性能

Keywords

Parallel mechanismDynamicsAcceleration performance

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