• 机械基础工程 •

一种三自由度串并联结构旋转台的动力学分析

1. 1.河北大学,保定,071002
2.燕山大学,秦皇岛,066004
• 出版日期:2012-01-10 发布日期:2012-01-15
• 基金资助:
科技部国际合作项目（2008DFR10530 ）；河北省教育厅高等学校科学技术研究青年基金资助项目(2010217）
International Cooperation Program of Ministry of Science and Technology of China ( No. 2008DFR10530)

Dynamics Analysis on a 3-DOF Rotational Platform with Serial-Parallel Structure

Gao Zheng1;Xiao Jinzhuang1;Wang Hongrui1;Jin Zhenlin2

1. 1.Hebei University, Baoding, Hebei,071002
2.Yanshan University, Qinhuangdao, Hebei,066004
• Online:2012-01-10 Published:2012-01-15
• Supported by:
International Cooperation Program of Ministry of Science and Technology of China ( No. 2008DFR10530)

Abstract:

Dynamics of a 3-DOF (degree of freedom) rotational platform was analyzed. This rotational platform, which consists of a 2-DOF spherical parallel mechanism and a rotational degree connecting in series to the platform of the 2-DOF mechanism, has only 3 rotation freedoms. System's input-and-output velocity functions were established according to rotational platform's geometry and motion characteristics, and then the velocity Jacobian metrics and energy functions were obtained. System's dynamics model was established by Lagrange method and virtual work principle, and then the drive torque was solved when given the external load, velocities and accelerations. The
examples of dynamics simulation were given. The drive torques' changing curves of the 2-DOF spherical mechanism was discussed under the situation of uniform speed and acceleration. Finally, according to the dynamics functions, a third degree's kinematics equation was obtained respecting to its torque and output angle. 