2-GRR（FR）/GRR并联偏转平台动力学研究

徐永帅; 陈纯; 王佳伟; 徐慧茹

doi:10.16578/j.issn.1004.2539.2020.03.016

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2-GRR（FR）/GRR并联偏转平台动力学研究

设计计算 | 更新时间：2022-10-20

- 2-GRR（FR）/GRR并联偏转平台动力学研究
- Study on the Dynamics of 2-GRR(FR)/GRR Parallel Deflection Platform
- 机械传动 2020年44卷第3期页码：97-102
- 作者机构：
  
  1.陕西理工大学机械工程学院，陕西汉中 723001
- 作者简介：
  
  徐永帅（1993— ），男，陕西榆林人，在读硕士研究生，主要研究方向为机械设计制造及其自动化、并联机构。
  陈纯（1961— ），男，陕西岐山人，博士，副教授，主要研究方向为机械设计制造及其自动化、并联机构。
- 基金信息：
  
  陕西省重点研发计划项目(2019GY-068)
- DOI：10.16578/j.issn.1004.2539.2020.03.016
  中图分类号：
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徐永帅,陈纯,王佳伟等.2-GRR（FR）/GRR并联偏转平台动力学研究[J].机械传动,2020,44(03):97-102.

Xu Yongshuai Chen Chun Wang Jiawei Xu Huiru.Study on the Dynamics of 2-GRR(FR)/GRR Parallel Deflection Platform[J].Journal of Mechanical Transmission,2020,44(03):97-102.
徐永帅,陈纯,王佳伟等.2-GRR（FR）/GRR并联偏转平台动力学研究[J].机械传动,2020,44(03):97-102. DOI： 10.16578/j.issn.1004.2539.2020.03.016.

Xu Yongshuai Chen Chun Wang Jiawei Xu Huiru.Study on the Dynamics of 2-GRR(FR)/GRR Parallel Deflection Platform[J].Journal of Mechanical Transmission,2020,44(03):97-102. DOI： 10.16578/j.issn.1004.2539.2020.03.016.

摘要

提出一种新型2-GRR（FR）/GRR并联驱动双向偏转平台。动平台通过在空间中呈正十字交错且同心的两个分支结构与底座相连接，该平台可以在,X、Y,两个方向上实现大角度偏转。以平台中一条支链为研究对象，采用D-H法建立了各构件的局部坐标系，对其做了运动学逆解分析，并采用双变量反正切函数的方法得出了其解析方程；然后，根据达朗贝尔原理建立了各构件的力与力矩平衡方程；最后，采用New-Euler法推导出了平台的动力学模型，并运用所建立的动力学模型对并联驱动双向偏转平台进行了实例计算，得出了其在给定外力及外力矩条件下实现规定运动时所需要的驱动力矩曲线图。

Abstract

A new 2-GRR(FR)/GRR parallel drive bidirectional deflection platform is proposed. The movable platform is connected with the base through two branches which are crisscross and concentric in space，and the platform can deflect at large-angle area in both ,X, and ,Y, directions. Taking one of the branches as the research object，the local coordinate system of each component is established by D-H method，and the inverse kinematics analysis is performed. The analytical equation is obtained by using the bivariate inverse tangent function. Then the force and moment balance equations of each component are established according to the D'Alembert principle. The dynamics model of the platform is derived by New-Euler method，and the dynamic model is used to calculate the parallel drive bidirectional deflection platform. The graph of the driving torque required to achieve the specified motion under given external force and external torque is obtained.

关键词

并联驱动双向偏转平台运动学逆解动力学模型

Keywords

Parallel drivingBidirectional deflection platformInverse kinematicsDynamics model

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