平面二自由度并联机构的运动学和动力学研究.pdfVIP

2015年9月 机 床 与 液 压 Sep . 2015 第 43 卷第 17 期 M A C H I N E T O O L 3 H Y D R A U L I C S Yol . 43 No . 17 D O I : 10?969/j. i s . 1001-3881. 2015. 17. 013 平面二自由度并联机构的运动学和动力学研究 林协源，刘冠峰，张国英 (广东工业大学机电工程学院，广东广州510006) 摘要：为了满足发光二极管电子封装设备的高速高精要求，设计出了二自由度平面并联机构（2-PPa 并联机构）。该机 构由一个动平台和两个对称分布的结构完全相同的支链组成，每个支链中都有一个移动副（驱动关节）和一个由平面平行 四边形组成的特殊移动副。推导出该机构的运动学模型，根据性能指标确定其设计参数，并基于Eule-Lagrange方程建立该 机构的动力学模型，最后通过算例仿真并分析了动平台按照一定轨迹规划运动时，两个移动副速度、加速度和驱动力的变 化规律。结果表明：速度变化过程中，两个移动副的加速度和驱动力都较大，其方向相互对应。 关键词：二自由度；平面并联机构；移动副；运动学；动力学 中图分类号：T H 112 文献标志码：A 文章编号：匪 -3881 (2015) 17-054-4 Kinematic and Dynamic Analysis of a Planar Two-DOF Parallel Manipulator LIN Xieyuan，LIU Guanfeng，Z H A N G Guoying (School of Electro-mechanical Engineering ， Guangdong University of Technology ， Guangzhou Guangdong 510006，China ) Abstract ： In order to satisfy the request of high-speed and high-accuracy of LED ( type of planar 2-DOF parallel manipulator ( 2-PPa ) was designed. The manipulator consists of a moving platform and two identical sub­ chains. Each subchain is made of a prismatic joint ( actuator) and a parallelogram with four passive revolute joints. Kinematic model of the manipulator was derived. The geometric parameters of the manipulator was determined， and its dynamic model was established based on Euler-Lagrange formulation. A numerical example was provided to simulate and analyze the relationship bet^veen velocity，ac­ celeration and driving torcque of joints by the given patli planning. The result shows that torque of two joints are large. They are in the same direction. Keywords ： 2-D O F ； Planar parallel manipulator； Prismatic coint； Kinematics ； Dynamics. 〇