关键词: 1-RRS-3-SPS-1-PS机构, 惯性张量, 全域性能指标, 影响系数矩阵

Abstract: The configuration of equivalent parallel mechanism of stationary ring of helicopter swashplate, 1-RRS-3-SPS-1-PS mechanism, is analyzed, then the mechanism’s influence coefficient matrices are obtained by using virtual mechanism method, and their validity through simulation curves of input speed and acceleration derived from influence coefficient method and differential coefficient method is testified. Considering the dimension and mass, the dynamics performance of the 1-RRS-3-SPS-1-PS parallel mechanism is also analyzed with global performance indices of velocity and acceleration and inertia force, and the performance atlases about variation trend of the relationship between the dimension and dynamics performance are obtained. Simultaneously, the best mechanism’s sizes which make the mechanism’s dynamic performance to be best are obtained through analyzing the performance atlases. The correctness and feasibility of the global performance indices are validated through entity simulation by means of Matlab．

Key words: 1-RRS-3-SPS-1-PS mechanism, Global performance indicators, Inertia tensor, Influence coefficient matrix