南京航空航天大学学报（英文版）2009，Vol.26Issue(2)：95-100,6.
两自由度球面并联机构动力学分析
DYNAMICS ANALYSIS OF 2-DOF SPHERICAL PARALLEL MECHANISM
摘要
Abstract
The analytical formulations of the velocity and the acceleration of a 2-DOF spherical parallel mechanism are derived by the screw theory. Based on building its dynamics model by the principle of virtual work and reciprocal product of the screw, the equation of the motor moment is obtained. Through the transformation of dynamics model, the configuration space method of the dynamics equation and the corresponding coefficients are presented. Finally, the result of an example shows that the inertia moment and the gravity play a more important role than the coriolis and centrifugal moment, and the former is ten times of the latter in the magnitude. So, the latter can be neglected only when the velocity of mechanism is very slow.关键词
运动学/机构/动力学分析/旋量理论/球面并联机构Key words
kinematics/mechanics/dynamics analysis/screw theory/spherical parallel mechanism分类
信息技术与安全科学引用本文复制引用
李成刚,王化明,朱剑英..两自由度球面并联机构动力学分析[J].南京航空航天大学学报（英文版）,2009,26(2):95-100,6.基金项目
国家自然科学基金(50375071)资助项目 （50375071）
江苏省数字化制造技术重点实验室开放课题(HGDML-0604)资助项目.Supported by the National Natural Science Foundation of China (50375071) （HGDML-0604）
the Jiangsu Province Key Lab on Digital Manufacture Project (HGDML-0604). （HGDML-0604）
