| 基于广义坐标形式牛顿-欧拉方法的空间并联机构动力学正问题分析 |
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| 引用本文： | 陈根良,王皓,来新民,林忠钦.基于广义坐标形式牛顿-欧拉方法的空间并联机构动力学正问题分析[J].机械工程学报,2009,45(7). |
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| 作者姓名： | 陈根良 王皓 来新民 林忠钦 |
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| 作者单位： | 1. 上海交通大学车身设计与制造研究所,上海,200240
2. 上海交通大学车身设计与制造研究所,上海,200240;上海交通大学机械系统与振动国家重点实验室,上海,200240 |
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| 基金项目： | 国家自然科学基金，国家重点基础研究发展规划(973计划) |
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| 摘 要： | 基于具有广义坐标形式的牛顿-欧拉方法建立一般空间并联机构动力学正问题建模与仿真的通用方法.在动力学建模时,选取空间并联机构动平台的工作空间变量作为系统广义坐标,从各构件的牛顿-欧拉方程出发,结合运动学逆解和虚功原理,得到与广义坐标相对应的系统动力学方程-运动微分方程和系统理想铰约束力方程.对6-UPS型空间并联机构进行动力学建模,计算外力作用下的动态响应,验证了该方法的有效性.理论分析和仿真案例表明,该方法可以简化并联机构动力学正问题的建模步骤,提高计算效率.
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| 关 键 词： | 广义坐标 牛顿-欧拉方法 空间并联机构 动力学正问题 |
Forward Dynamics Analysis of Spatial Parallel Mechanisms Based on the Newton-Euler Method with Generalized Coordinates |
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| CHEN Genliang,WANG Hao,LAI Xinmin,LIN Zhongqin.Forward Dynamics Analysis of Spatial Parallel Mechanisms Based on the Newton-Euler Method with Generalized Coordinates[J].Chinese Journal of Mechanical Engineering,2009,45(7). |
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| Authors: | CHEN Genliang WANG Hao LAI Xinmin LIN Zhongqin |
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| Affiliation: | 1. Institute of Auto-body Design & Manufacturing;Shanghai Jiao Tong University;Shanghai 200240;2. State Key Laboratory of Mechanical System and Vibration;Shanghai 200240 |
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| Abstract: | A general method for the forward dynamics modeling and simulation of spatial parallel mechanisms is proposed on the basis of Newton-Euler method with generalized coordinates. The task-space variables are chosen as the generalized coordinates during the dynamics modeling. The equations of motion and reaction can be obtained from the Newton-Euler equations of all the bodies in the mechanism according to the inverse kinematics and the principle of virtual work. The 6-UPS mechanism is studied as an example to v... |
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| Keywords: | Generalized coordinates Newton-Euler method Spatial parallel mechanisms Forward dynamics |
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