A novel four degree of freedom (4DOFs) parallel mechanism was obtained by using method of adding constraintdrivenlimb limiting the DOFs of movement platform and removing drivinglimbs. The DOFs of this mechanism were analyzed, and then the input/output relationship equations of moving links were built and NewtonEuler (NE) method was used to establish dynamical model of this mechanism including drivingjointfriction. Through the programming calculation and proposing the method of motion trajectory planning of the mechanism, the force/moment of each limbs and platforms was obtained in the two different trajectories conditions. Finally the tool kit of SimMechanics and Matlab were used to simulate this parallel mechanism dynamicaly, which verifies the correctness of theoretic calculation fot the mechanism.
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季晔,吴锐,张旦闻,孙娟.一种新型四自由度并联机构的动力学分析与仿真[J].机床与液压,2016,44(3):40-45. . Dynamic Analysis and Simulation of a Novel 4DOFs Parallel Mechanism[J]. Machine Tool & Hydraulics,2016,44(3):40-45