Dynamics Research of the 3-TPT Parallel Mechanism based on Kane Equation

Zhao Xueyang; Zhao Henghua; Yang Shibin; Mu Hongping

doi:10.16578/j.issn.1004.2539.2016.01.008

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Dynamics Research of the 3-TPT Parallel Mechanism based on Kane Equation

更新时间：2022-10-20

- Dynamics Research of the 3-TPT Parallel Mechanism based on Kane Equation
- Vol. 40, Issue 1, Pages: 36-39(2016)
- 作者机构：
  
  1. 辽宁石油化工大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.01.008
  CLC：
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[1]赵学洋,赵恒华,杨世彬,牟红平.基于Kane方程的3-TPT并联机构动力学研究[J].机械传动,2016,40(01):36-39.

Zhao Xueyang, Zhao Henghua, Yang Shibin, et al. Dynamics Research of the 3-TPT Parallel Mechanism based on Kane Equation. [J]. 40(1):36-39(2016)
[1]赵学洋,赵恒华,杨世彬,牟红平.基于Kane方程的3-TPT并联机构动力学研究[J].机械传动,2016,40(01):36-39. DOI： 10.16578/j.issn.1004.2539.2016.01.008.

Zhao Xueyang, Zhao Henghua, Yang Shibin, et al. Dynamics Research of the 3-TPT Parallel Mechanism based on Kane Equation. [J]. 40(1):36-39(2016) DOI： 10.16578/j.issn.1004.2539.2016.01.008.

摘要

以3-TPT并联机构为研究对象,进行动力学方面的研究。首先,以Kane方程为基础,从运动学角度出发,分析运动平台和各个驱动杆件的速度、加速度之间的关系;然后,运用Kane法建立3-TPT并联机构的动力学方程;最后,在MATLAB环境下进行驱动力和时间关系的仿真分析。分析结果表明,3-TPT并联机构有效驱动力呈周期性变化,且在加速和减速阶段有突变,这会引起平台的震动。

Abstract

Taking the 3- TPT parallel mechanism as study object,the dynamics of the 3- TPT parallel mechanism is studied. A formulation based on Kane equation is educed for the dynamics of the Stewart platform manipulator from the kinematics analysis of the model. The relation between velocity and acceleration of platform and driving bar are analyzed. Then the dynamics equations of the 3- TPT parallel mechanism is derived with the help of Kane equation. Finally,the simulation analysis of relationship between the driving force and time is carried outs by MATLAB software. The result show that,the driving force of 3- TPT parallel mechanism is changed periodically,and mutation in the acceleration and deceleration phases.

关键词

凯恩方程并联机构动力学

Keywords

Kane equationParallel mechanismDynamics

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