3-RRS并联机构动力学建模与性能分析

doi:10.3901/JME.2025.07.315

摘要/Abstract

摘要： 研究3-RRS三自由度并联机构动力学建模和性能评价方法。建立该机构位置、速度、加速度以及动力学模型，并通过Solidworks motion验证动力学模型的正确性。建立机构驱动力矩与广义坐标系下加速度间的映射矩阵，并考虑该机构一平动和两转动的运动特性，基于矩阵奇异值理论提出其平动和转动的加减速传动特性，构造既可替代机构全域动力学性能又可提升计算效率的“局部”动力学性能评价指标。研究机构全域和“局部”动力学性能分别随机构设计参数的变化规律及两者的关联性，验证采用“局部”性能可表征全域性能。

关键词: 并联机构, 动力学建模, 性能评价

Abstract: A dynamic modeling and performance evaluation method for 3-RRS parallel mechanism is studied. The inverse displacement, velocity, acceleration and dynamic models of the mechanism are established, and the correctness of the dynamic model is verified through Solidworks motion. The mapping matrix of the driving moment and the acceleration of the mechanism in generalized coordinates is established, the translation and rotation dynamics performance evaluation index of the mechanism are proposed based on the matrix singular value theory considering the motion characteristics of one translational and two rotational of the mechanism, and the “local” dynamic performance evaluation indexes of the mechanism that can replace the global dynamic performance and improve computing efficiency are constructed. The variation of the global and “local” dynamic performance with the design parameters of the mechanism and the correlation between the two are studied, and the rationality of using the “local” performance to characterize global performance is verified.

Key words: parallel robot, dynamic modeling, dynamic performance evaluation

中图分类号:

TP24

张宇轩, 汪满新, 王明昊, 方明峰, 冯虎田. 3-RRS并联机构动力学建模与性能分析[J]. 机械工程学报, 2025, 61(7): 315-324.

ZHANG Yuxuan, WANG Manxin, WANG Minghao, FANG Mingfeng, FENG Hutian. Dynamic Modeling and Performance Analysis of a 3-RRS Parallel Mechanism[J]. Journal of Mechanical Engineering, 2025, 61(7): 315-324.

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