一种新型刚柔混合并联机构的动力学研究

Research on the Dynamics of the Novel Rigid and Flexible Mixed Parallel Mechanism

摘要: 随着科技的发展和工业水平的提高，刚柔混合并联机构逐渐成为机构学的研究热点。本文对一种新型刚柔混合欠驱动并联机构进行了研究，基于plücker坐标建立了机构的动力学模型，采用龙格库塔算法对机构的动力学行为进行了数值仿真。研究结果表明，3自由度的刚柔混合并联机构在一个移动副的驱动下具有确定的运动轨迹，机构具有较好的欠驱动特征和容错性。弹性构件的引入有效降低了机构的运动惯性，刚柔混合并联机构可满足机械装备对轻质、高速的需求，在工业中具有良好的应用潜力。

Abstract: With the development of the technology and industry, the rigid and flexible mixed parallel mecha-nism has become a new research hotspot of the field of mechanisms. In this paper, a novel rigid and flexible mixed parallel mechanism is researched. On the basis of plücker coordinates, the dynamic model of the mechanism is developed. Afterwards, the dynamic behaviors are simulated by employing the method of Runge Kutta. The results indicate that the novel rigid and flexible mixed parallel mechanism, of three degrees of freedom, has determinate trajectory driven by one pris-matic joint. It follows that the novel mechanism has better characteristics such as under-driven and fault tolerance. Moreover, the introduced elastic component reduces the mechanism’s motion inertia efficiently. The rigid and flexible mixed parallel mechanisms can meet the rise in demand for low weight and high speed in the fields of machinery equipment and have good potential for applications in the fields of industry.