摘要
将Kane方法运用于六自由度并联机构的动力学建模,在对实际机构进行简化的基础上,建立了滑块驱动力与动平台运动规律之间的数学模型。利用MATLAB软件进行编程计算,所得结果与ADAMS软件动力学仿真的结果十分相近,从而为优化六自由度并联机构提供了基础。
The Kane Method was applied in the dynamic modeling of the 6-DOF parallel mechanism. The mathematical model between the driving forces of the sliders and the kinematic disciplines of the platform was built on the simplified actural mechanism. The dynamic computation program of the 6-dof parallel mechanism was developed by using MATLAB. The results calculated by our program are in good agreement with the results simulated by the software- ADAMS, which provides the base for optimizing the 6-dofparallel mechanism.
出处
《计算力学学报》
EI
CAS
CSCD
北大核心
2011年第B04期165-170,共6页
Chinese Journal of Computational Mechanics
基金
国家自然科学基金
中国工程物理研究院联合基金(10376047)资助项目
关键词
KANE方法
并联机构
动力学
仿真
kane method
parallel mechanism： dynamics： simulation
