一种新型3-CRU并联机构的动力学建模
Kinetic Modeling of a Novel 3-CRU Translational Parallel Mechanism
DOI: 10.12677/MET.2016.54042, PDF, HTML, XML,   
作者: 郭东杰, 李彬：天津理工大学机械工程学院，天津；李杨民：澳门大学科学技术学院，澳门
关键词: 位置分析；动力学建模；雅可比矩阵；虚功原理；Position Analysis； Kinetic Model； Jacobian Matrix； Virtual Work Principle
摘要: 3-CRU平动并联机构具有3条CRU支链组，具有三个运动方向上的平动特性，对于目前多数并联机构需要较少自由度这一现状以及在生产中的实际情况，本文根据广发的调查取证，设计并验证了一种全新的3-CRU平动并联机械手，在对机构进位置和速度分析的基础上，得到新机构的第一阶影响系数矩阵，继而采用虚功法建立新型3-CRU平动并联机构运动平台的动力学模型，为精密机构平台的精度划分提供帮助。
Abstract: This 3-CRU parallel mechanism has three CRU branched chain groups and this parallel mechanism has three characteristics of translational movement direction. In practical application, it does not require so much degree of freedom. Based on the investigation and collecting data, the device needs low degree of freedom. A novel 3-CRU translational parallel mechanism has been designed for adapting to this situation. In this paper, the position and speed of the mechanism are analyzed, and the Jacobi matrix of the mechanism has been obtained. According to the principle of virtual work, we established the kinetic model of 3-CRU translational parallel mechanism. It can provide the help for the researching on the accuracy of precision motion platform.
文章引用：郭东杰, 李杨民, 李彬. 一种新型3-CRU并联机构的动力学建模[J]. 机械工程与技术, 2016, 5(4): 344-351. http://dx.doi.org/10.12677/MET.2016.54042

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