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应用拉格朗日法对新型6自由度冗余驱动混联机床进行动力学建模。首先,对4-PRP+3-UPS&PU机床构型进行分析,建立机床坐标系;然后,求解出该冗余驱动混联机床系统的动能、势能和作用于该混联机构非保守力的等效广义力,利用拉格朗日方程建立4-PRP+3-UPS&PU冗余驱动混联机床的动力学模型,为该混联机构驱动力的求解及机构的动力学分析奠定基础;最后结合数值算例,用MATLAB软件对动力学模型进行数值计算并绘制出各驱动杆驱动力的变化曲线,将理论分析结果与ADAMS仿真结果进行比较,验证了该动力学模型的正确性及可行性。
Applying Lagrange method to dynamics modeling of new 6 DOF redundant drive hybrid machine tool. Firstly, the configuration of 4-PRP + 3-UPS & PU machine tool is analyzed to establish the machine tool coordinate system. Then, the kinetic energy and potential energy of this redundant drive hybrid machine tool system and the equivalent non-conservative force acting on this hybrid mechanism Generalized force, the dynamic model of 4-PRP + 3-UPS & PU redundant drive hybrid machine tool is established by using Lagrange equation, which lays the foundation for solving the driving force of this hybrid mechanism and the dynamic analysis of the mechanism. Finally, For example, the dynamic model was numerically calculated by MATLAB software and the driving force curve of each driving rod was drawn. The theoretical analysis results were compared with the ADAMS simulation results to verify the correctness and feasibility of the dynamic model.