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基于SimMechanics的4UPS/PPU并联机构运动分析
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Kinematic Analysis of 4UPS/PPU Parallel Mechanism Based on SimMechanics
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    摘要:

    基于构型演变,在4UPS并联机构中,增加一条PPU从动支链,得到一种4UPS/PPU并联机构,从动支链限制了运动平台一个转动和一个移动自由度。根据机构的输入、输出关系,建立了机构的运动关系方程,利用求导法,得到了机构的速度和加速度Jacobian矩阵。利用SimMechanics工具箱建立了机构运动仿真模型,在给定输入条件下,得到了运动平台随输入的位置、速度和加速度变化规律。结果表明:运动平台运行平稳,与理论计算吻合。

    Abstract:

    Based on configuration evolution, by means of adding a PPU drivenlimp, a 4UPS/PPU parallel mechanism(PM) was built. The DOFs of movement platform were limited by drivenlimp and onetranslational and onerotational DOFs were constrained. 4UPS/PPU PM that the kinematic equations of inputs and outputs were built and Jacobian matrixes of velocity and acceleration were obtained by the method of derivation possesses two rotational and two translational DOFs. The toolkit of SimMechanics being used for the simulation calculation, the motion law of movement platform was obtained. The results show that operation of movement platform is stable and simulation calculation is in accordance with the theoretical calculation.

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季晔,赵淑玲,孙娟,吴锐,张旦闻.基于SimMechanics的4UPS/PPU并联机构运动分析[J].机床与液压,2015,43(21):83-85.
. Kinematic Analysis of 4UPS/PPU Parallel Mechanism Based on SimMechanics[J]. Machine Tool & Hydraulics,2015,43(21):83-85

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  • 在线发布日期: 2016-01-08
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