CAJ | 학술논문

使用Kane方法对6-UPS并联机构多维力加载装置进行了动力学特性分析，并建立了动力学数学模型。针对该加载装置不同的运动参数，仿真分析了在不同速度及加速度条件下，动力学模型中惯性力、哥氏力和重力项对系统输出广义力的影响。结果表明：当动平台的速度或加速度在工作范围内，支链惯性力和哥氏力对系统影响小于2％，可以忽略，而重力影响大于2％，不可忽略。依据这一分析结果对系统动力学模型进行了简化，为并联机构的控制系统提供了理论依据。
사용Kane방법대6-UPS병련궤구다유력가재장치진행료동역학특성분석，병건립료동역학수학모형。침대해가재장치불동적운동삼수，방진분석료재불동속도급가속도조건하，동역학모형중관성력、가씨력화중력항대계통수출엄의력적영향。결과표명：당동평태적속도혹가속도재공작범위내，지련관성력화가씨력대계통영향소우2％，가이홀략，이중력영향대우2％，불가홀략。의거저일분석결과대계통동역학모형진행료간화，위병련궤구적공제계통제공료이론의거。
By using Kane Equation,the dynamic characteristic of the multi-dimensional loading device was analyzed,and dy-namic mathematical model was established. Aimed at the different parameters of motion about the loading device,the effect of the grav-ity,inertial force and the Coriolis force in the dynamic model to the generalized force of system output was analyzed with simulation, under conditions of different acceleration and velocity. The results show that when the velocity or acceleration of the moving platform is within the working limits,the effect of the inertia force branch and the Coriolis force to the system is smaller than 2%,can be omitted, while the gravity of that is greater than 2%,can not. A simplified system dynamic model is gotten according to the analyzed results, which provides the theoretical basis for the control system of parallel device.