Dynamics Model of 4-PRP+3-UPS&amp;PU Hybrid Machine Tool with Redundant Drive

Liu Na; Mei Ying; Wang Shusen; Hu Weiwei

doi:10.16578/j.issn.1004.2539.2017.08.014

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Dynamics Model of 4-PRP+3-UPS&PU Hybrid Machine Tool with Redundant Drive

更新时间：2022-10-20

- Dynamics Model of 4-PRP+3-UPS&PU Hybrid Machine Tool with Redundant Drive
- Vol. 41, Issue 8, Pages: 67-73(2017)
- 作者机构：
  
  1. 中北大学机械与动力工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2017.08.014
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[1]刘娜,梅瑛,王书森,胡微微.冗余驱动4-PRP+3-UPS&PU混联机床动力学模型[J].机械传动,2017,41(08):67-73.

Liu Na, Mei Ying, Wang Shusen, et al. Dynamics Model of 4-PRP+3-UPS&PU Hybrid Machine Tool with Redundant Drive. [J]. 41(8):67-73(2017)
[1]刘娜,梅瑛,王书森,胡微微.冗余驱动4-PRP+3-UPS&PU混联机床动力学模型[J].机械传动,2017,41(08):67-73. DOI： 10.16578/j.issn.1004.2539.2017.08.014.

Liu Na, Mei Ying, Wang Shusen, et al. Dynamics Model of 4-PRP+3-UPS&PU Hybrid Machine Tool with Redundant Drive. [J]. 41(8):67-73(2017) DOI： 10.16578/j.issn.1004.2539.2017.08.014.

摘要

应用拉格朗日法对新型6自由度冗余驱动混联机床进行动力学建模。首先,对4-PRP+3-UPS&PU机床构型进行分析,建立机床坐标系;然后,求解出该冗余驱动混联机床系统的动能、势能和作用于该混联机构非保守力的等效广义力,利用拉格朗日方程建立4-PRP+3-UPS&PU冗余驱动混联机床的动力学模型,为该混联机构驱动力的求解及机构的动力学分析奠定基础;最后结合数值算例,用MATLAB软件对动力学模型进行数值计算并绘制出各驱动杆驱动力的变化曲线,将理论分析结果与ADAMS仿真结果进行比较,验证了该动力学模型的正确性及可行性。

Abstract

The Lagrange method is applied to build dynamics model of the 6 DOF redundantly actuated hybrid machine tool. Firstly,the configuration of the 4-PRP + 3-UPS&PU machine tool is analyzed,and the coordinate system is established. Then,the expression of kinetic energy and potential energy of the machine tool are educed,and the equivalent generalized force of non-conservative force is analyzed,and the dynamics model is established by using the Lagrange method,which laid the foundation for the solution of driving force and dynamics analysis. Finally,combining with numerical examples,the numerical results of the dynamics model of the 4-PRP + 3-UPS&PU redundant drive hybrid mechanism and mechanism driving rod drive curve are obtained by MATLAB,and the correctness and feasibility of the dynamic model is verified by ADAMS simulation results.

关键词

冗余驱动混联机床拉格朗日法动力学模型

Keywords

Redundant driveHybrid machine toolLagrange methodDynamics model

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Dynamics Model of 4-PRP+3-UPS&PU Hybrid Machine Tool with Redundant Drive

DOI：10.16578/j.issn.1004.2539.2017.08.014

摘要

Abstract

关键词

Keywords

references