CAJ | 학술논문

本文由三自由度并联机构的结构入手，介绍了一种一平移两转动的三自由度运动模拟平台，此平台通过改变三个可伸缩的支撑杆的长度来实现模拟平台的特定位姿。应用拉格朗日方程建立动力学模型，分析了机构的结构参数与驱动力的关系，为机械结构设计提供了依据。
본문유삼자유도병련궤구적결구입수，개소료일충일평이량전동적삼자유도운동모의평태，차평태통과개변삼개가신축적지탱간적장도래실현모의평태적특정위자。응용랍격랑일방정건립동역학모형，분석료궤구적결구삼수여구동력적관계，위궤계결구설계제공료의거。
From the structure of three degrees of freedom parallel mechanism, a three degrees of freedom motion simulation platform with one translational and two rotational is analyzed in this paper. This platform simplifies the structure by changing the length of the three collapsible support rods to achieve a specific position and orientation of the simulation platform. Based on Lagrange’s equation, the dynamic model of the 3-DOF parallel platform was established. The relation between system parameters and drive force of the mechanism was obtained, thus provides basis for the mechanical structural design.