CAJ | 학술논문

以机构支链的动力学为基础，推导3-CRR并联机构的动力学方程。在SolidWorks软件中建立机构的虚拟模型并在CosmosMotion模块中进行动力学仿真。通过动力学方程和仿真两种方法分别计算机构完成规定运动所需要的驱动力，比较发现计算结果基本一致，证明了两种方法的一致性与准确性，为机构的设计制造和动力学控制提供了理论基础。
이궤구지련적동역학위기출，추도3-CRR병련궤구적동역학방정。재SolidWorks연건중건립궤구적허의모형병재CosmosMotion모괴중진행동역학방진。통과동역학방정화방진량충방법분별계산궤구완성규정운동소수요적구동력，비교발현계산결과기본일치，증명료량충방법적일치성여준학성，위궤구적설계제조화동역학공제제공료이론기출。
Based on the dynamics of each limb ,the dynamic equations of a 3-CRR parallel manipulator are derived .Then a visual prototype of the manipulator is built in the software of SolidWorks and the dynamic simulation is shown in the module of CosmosMotion .To the specified motion ,the applied forces are calculated using dynamic equations and simulation .The derived results are nearly same ,so both methods are consistent and accurate .Analysis of dynamics provides theoretical foundation for the design and control of the manipulator .