CAJ | 학술논문

以三自由度平动并联机构为研究对象，列出机构的速度雅克比矩阵，计算出了动平台和各个构件的速度、加速度；利用虚位移原理推导出机构的动力学方程；通过把拆杆法、虚位移原理及牛顿-欧拉方法结合起来，提出求出机构运动副约束力的新方法。理论分析表明，以上方法形式简单、计算量小、不需要考虑耦合影响。用ADAMS软件建立该机构虚拟样机，并作了动力学仿真，仿真结果验证了理论计算的正确性。
이삼자유도평동병련궤구위연구대상，렬출궤구적속도아극비구진，계산출료동평태화각개구건적속도、가속도；이용허위이원리추도출궤구적동역학방정；통과파탁간법、허위이원리급우돈-구랍방법결합기래，제출구출궤구운동부약속력적신방법。이론분석표명，이상방법형식간단、계산량소、불수요고필우합영향。용ADAMS연건건립해궤구허의양궤，병작료동역학방진，방진결과험증료이론계산적정학성。
Aimed at three-translational parallel mechanism,the velocity Jacobi-matrix is formulated,the veloci-ty and acceleration of the moving platform and all components are calculated. The principle of virtual work is applied to solve the dynamics equation. By means of combining separating bar method,principle of virtual work and Newton-Euler method,a new method of solving the constraint force of kinematic pair is proposed. The theoretical analysis shows that the above method is simple,easy to solve,and no need to consider the cou-pling effect. The dynamics simulation is carried out by ADAMS software,the simulation results verify the cor-rectness of the theoretical calculation.