摘要
将3-PUU并联机构作为激光切割机床的主体机构,以对3-PUU并联机构的运动学分析为目的,构建3-PUU并联机构的位置方程,采用虚设机构法建立并联机构的影响系数矩阵,包括Jacobian矩阵和Hessian矩阵。采用影响系数矩阵和对位置方程微分的方式分别求得并联机构的驱动副与动平台间速度和加速度的映射关系,将影响系数法和微分法所得驱动副速度和加速度图谱与ADAMS仿真结果对比。通过对比3种分析方法所得曲线的一致性,验证运动学理论研究的正确性、仿真验证的可靠性以及作为激光切割机床主体机构的适用性。影响系数矩阵的正确建立也为激光切割机床主体机构的动力学分析、性能指标的建立以及优化设计提供了基础。
Based on the position equation of 3-PUU parallel mechanism, the influence coefficient matrix of 3-PUU parallel mechanism was established by using dummy mechanism method, including Jacobian matrix and Hessian matrix. The mapping relation of the velocity and acceleration of the drive mechanism and the moving platform of the parallel mechanism were obtained by using the influence coefficient matrix and the differential equation of the position equation.The velocity and acceleration of the drive mechanism solved through the influence coefficient matrix and the differential equation were compared with the ADAMS simulation results.The consistency of the three analytical methods verify the correctness of the kinematics theory analysis, the reliability of the simulation verification, and usability of the 3-PUU parallel mechanism as the main body of the laser cutting machine tool.It provides reference for the dynamic analysis of the mechanism, the establishment of the performance index and the optimization design.
作者
李泽众
郭宗和
杜岩锦
LI Zezhong;GUO Zonghe;DU Yanjin(School of Mechanical,Shandong University of Technology,Zibo Shandong 255049,China)
出处
《机床与液压》
北大核心
2018年第21期34-38,共5页
Machine Tool & Hydraulics
基金
山东省自然科学基金项目(ZR2016EEM12)
关键词
3-PUU并联机构
少自由度
虚设机构法
影响系数
运动学
3-PUU parallel mechanism
Lower-mobility
Virtual mechanism method
Influence coefficient
Kinematics
