Kinematic and Dynamic Analysis of the Partially Decoupled Parallel Manipulator

Canguo Zhang; Xiaoyu Ni; Zhanfeng Song; Yongjie Zheng

doi:10.16578/j.issn.1004.2539.2022.08.012

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Kinematic and Dynamic Analysis of the Partially Decoupled Parallel Manipulator

Design· Calculation | 更新时间：2022-09-23

- Kinematic and Dynamic Analysis of the Partially Decoupled Parallel Manipulator
- Journal of Mechanical Transmission Vol. 46, Issue 8, Pages: 72-77(2022)
- 作者机构：
  
  1.河北建筑工程学院机械工程学院，河北张家口 075024
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.08.012
  CLC：
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张灿果,倪笑宇,宋占锋等.一种部分解耦并联机构运动学与动力学分析[J].机械传动,2022,46(08):72-77.

Zhang Canguo,Ni Xiaoyu,Song Zhanfeng,et al.Kinematic and Dynamic Analysis of the Partially Decoupled Parallel Manipulator[J].Journal of Mechanical Transmission,2022,46(08):72-77.
张灿果,倪笑宇,宋占锋等.一种部分解耦并联机构运动学与动力学分析[J].机械传动,2022,46(08):72-77. DOI： 10.16578/j.issn.1004.2539.2022.08.012.

Zhang Canguo,Ni Xiaoyu,Song Zhanfeng,et al.Kinematic and Dynamic Analysis of the Partially Decoupled Parallel Manipulator[J].Journal of Mechanical Transmission,2022,46(08):72-77. DOI： 10.16578/j.issn.1004.2539.2022.08.012.

摘要

针对并联机床加工复杂曲面零件，设计了一种部分解耦5自由度并联机构。分析了该并联机构的自由度和解耦性能；基于矢量法，推导了机构中各驱动分支和动平台运动之间的映射关系，分析了并联机构中各构件的运动；考虑各构件的重力、惯性力和惯性力矩，利用虚功原理建立了机构的动力学方程；利用CAD软件对并联机构运动学和动力学方程进行了验证。分析了部分解耦并联机构的奇异性，为该类机构的应用奠定了理论基础。

Abstract

Aiming at the machining of complex curved surface parts with parallel machine tools， a novel partially decoupled parallel manipulator （PM） is proposed. The degree of freedom and the decoupling performance of the mechanism are analyzed. The formula for the kinematic relationship between the driving branches and the moving platform is deduced by the vector method. The motion of each component in the parallel manipulator is analyzed. Considering the gravity， inertia force and moment of inertia of the components in the mechanism， a dynamic model of the parallel manipulator is established. The kinematic and dynamic equation of the PM is verified based on advanced CAD software. The singularity of the PM is analyzed， which provides theoretical and technical foundations for its application.

关键词

并联机构解耦动力学奇异性

Keywords

Parallel manipulatorDecoupledDynamicsSingularity

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