中国机械工程2012，Vol.23Issue(1)：18-21,38,5.
一种三自由度串并联结构旋转台的动力学分析
Dynamics Analysis on a 3-DOF Rotational Platform with Serial--Parallel Structure
摘要
Abstract
Dynamics of a 3-DOF （degree of freedom） rotational platform was analyzed. This rotational platform, which consists of a 2-DOF spherical parallel mechanism and a rotational degree connecting in series to the platform of the 2-DOF mechanism, has only 3 rotation freedoms. System＇s input-and-output velocity functions were established according to rotational platform＇s geometry and motion characteristics, and then the velocity Jacobian metrics and energy functions were obtained. System＇s dynamics model was established by Lagrange method and virtual work principle, and then the drive torque was solved when given the external load, velocities and accelerations. The examples of dynamics simulation were given. The drive torques＇ changing curves of the 2-DOF spherical mechanism was discussed under the situation of uniform speed and acceleration. Finally, according to the dynamics functions, a third degree＇s kinematics equation was obtained respecting to its torque and output angle. 关键词
串并联机构/旋转台/动力学/拉格朗日法/虚功原理Key words
serial- parallel mechanism/rotation platform/dynamics/Lagrange method/virtual work principle分类
信息技术与安全科学引用本文复制引用
高征,肖金壮,王洪瑞,金振林..一种三自由度串并联结构旋转台的动力学分析[J].中国机械工程,2012,23(1):18-21,38,5.基金项目
科技部国际合作项目(2008DFR10530) （2008DFR10530）
河北省教育厅高等学校科学技术研究青年基金资助项目(2010217) （2010217）
