3-SPR并联机构钻孔末端执行器动力学分析

2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP) Pub Date : 2016-11-01 DOI:10.1109/M2VIP.2016.7827322

Laixi Zhang, Lin Chen, Shuai Wang

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引用次数: 1

摘要

基于拉格朗日方程建立了中心对称3-SPR并联机构的动力学方程，得到了作动力的显式解。为了使方程能够用于控制，研究了方程的简化表示。基于显式解，对平台的作动力变化进行了仿真。通过对比平台是否上传，研究了链质量可以忽略的情况。最后，分析了驱动力与平台结构参数之间的关系，为钻井机构的优化设计提供了依据。

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Dynamical analysis of a drilling end-effector with 3-SPR parallel mechanism

The dynamics equations of a centrosymmetry 3-SPR parallel mechanism were built based on Lagrange equations and the explicit solution of the actuation force was obtained. To use the equations for control, the simplified presentation of the equations were researched. The actuation force changing of the platform was simulated based on the explicit solution. The situation that the chain mass can be ignored was studied by comparing whether the platform was uploaded. Finally, the relationship between actuation force and the platform structure parameters was analysized, the results can be used for optimization design of the drilling mechanism.

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2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

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