Dynamics Modeling and Analysis of a 3-PPR Parallel Mechanism

Xie Zhijiang; Wu Xiaoyong; Zhang Jun; Pang Zhi; Sun Qi

doi:10.16578/j.issn.1004.2539.2017.05.011

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Dynamics Modeling and Analysis of a 3-PPR Parallel Mechanism

更新时间：2022-10-20

- Dynamics Modeling and Analysis of a 3-PPR Parallel Mechanism
- Vol. 41, Issue 5, Pages: 53-58(2017)
- 作者机构：
  
  1. 重庆大学机械传动国家重点实验室
  2. 长江师范学院机械与电气工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2017.05.011
  CLC：
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[1]谢志江,吴小勇,张军,庞智,孙琦.3-PPR并联机构动力学建模与分析[J].机械传动,2017,41(05):53-58.

Xie Zhijiang, Wu Xiaoyong, Zhang Jun, et al. Dynamics Modeling and Analysis of a 3-PPR Parallel Mechanism. [J]. 41(5):53-58(2017)
[1]谢志江,吴小勇,张军,庞智,孙琦.3-PPR并联机构动力学建模与分析[J].机械传动,2017,41(05):53-58. DOI： 10.16578/j.issn.1004.2539.2017.05.011.

Xie Zhijiang, Wu Xiaoyong, Zhang Jun, et al. Dynamics Modeling and Analysis of a 3-PPR Parallel Mechanism. [J]. 41(5):53-58(2017) DOI： 10.16578/j.issn.1004.2539.2017.05.011.

摘要

通过齐次坐标变换构建三自由度并联机构3-PPR的完整运动学逆解,利用一阶影响系数法求解机构雅克比矩阵。采用拉格朗日功能平衡法推导出机构刚体动力学模型,对比典型工况下Matlab数值算例仿真与ADAMS虚拟仿真结果,验证了刚体动力学理论分析的正确性。联合ADAMS与ANSYS对机构进行柔性动力学分析,综合机构刚体和柔性动力学仿真,为完整动力学分析奠定了基础。这些内容为进一步研究该并联机构的动态特性、系统控制、误差分析等有着非常重要的意义,也可作为类似并联机构动力学研究的一般方法。

Abstract

Based on the homogeneous coordinate transformation principle,the integrated inverse kinematics of the 3-PPR parallel mechanism is established,and the first-order coefficient method is applied to work out its Jacobian matrix. The rigid-body dynamics model is derived by using the Lagrange equation. Comparing the rigid-body dynamics simulation results under the typical working condition separately obtained by ADAMS and Matlab,the validity of theoretical analysis is verified. Then the flexible dynamics simulation is conducted by combining ANSYS and ADAMS,which forms the foundation of complete dynamics analysis. The research provides necessary information for dynamic performance analysis,control of the system and error analysis of the parallel mechanism,it also can be used to deal with the dynamics problem of similar parallel mechanisms.

关键词

并联机构运动学动力学Lagrange方程

Keywords

Parallel mechanismKinematicsDynamicsLagrange equation

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