农业机械学报2025，Vol.56Issue(10)：758-769,801,13.DOI:10.6041/j.issn.1000-1298.2025.10.069
具有多驱动模式的末端铰接三平动并联机构动力学建模与性能分析
Dynamic Modeling and Performance Analysis of End-articulated Three-translational Parallel Mechanism with Multiple Driving Modes
摘要
Abstract
Oriented by the complex working environment and multi-task requirements of robots in the high-end manufacturing field,a type of end-hinged parallel mechanism with multiple driving modes was studied for its design,kinematic/dynamic modeling,and performance analysis.Based on the existed mechanism,by constructing various auxiliary structures,a 3-DOF translational parallel mechanism that realizing eight driving modes was proposed,and the conceptual design was given.On the premise of positional analysis for the total joints,the Jacobian matrix and the velocity/acceleration mapping models under multiple driving modes were obtained,and a complete system dynamics model under multiple driving modes was established by using the principle of virtual power.By virtue of virtual prototyping technology,a Simscape multi-body physical simulation model was developed to implement inverse dynamics simulation under multiple driving modes.The comparison result between the simulation and numerical calculation indicated that the maximum torque error did not exceed 0.03 N·m,verifying the correctness of the dynamics model under multiple driving modes.Finally,based on the task-space dynamic model of system,the dynamic dexterity index was defined to evaluate the local dynamic performance of the robot under different driving modes to further reveal the effectiveness and advantage of multiple driving modes.The research results can lay a theoretical foundation for the design,modeling,optimization,and practical applications the robot in future.关键词
多驱动模式并联机构/动力学建模/多体仿真试验/性能分析Key words
multiple drive mode parallel mechanism/dynamic modeling/multi-body simulation experiment/performance analysis分类
机械制造引用本文复制引用
梁栋,石浩昊,畅博彦,崔满军,张珺鹏..具有多驱动模式的末端铰接三平动并联机构动力学建模与性能分析[J].农业机械学报,2025,56(10):758-769,801,13.基金项目
国家自然科学基金项目(52175243、52005368) （52175243、52005368）
