Dynamics analysis of a parallel hip joint simulator with four degree of freedoms (3R1T)
Dynamics analysis of a parallel hip joint simulator with four degree of freedoms (3R1T)
复制标题
四自由度平行髋关节模拟器（3R1T）动力学分析
DOI：
10.1007/s11071-012-0635-4
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发表时间：
2012-10
影响因子：
5.6
通讯作者：
Shan, Xian-lei
中科院分区：
文献类型：
--
作者：
Cheng, Gang;Shan, Xian-lei
针对以3SPS+1PS空间并联机械臂为核心模块的髋关节仿真器，通过对模型的运动学分析，推导出基于Kane方程的仿真器动态特性表达式。推导了运动平台与主动支链之间的速度和加速度关系。将运动平台的速度分量和角速度分量作为广义速度。通过得到广义主动力和惯性力，建立了系统的动力学模型。然后用数值方法模拟了主动支链的驱动力和动力以及中间支链的约束反作用力。结果表明，当移动平台旋转到0.13°绕x轴、2°绕y轴和18°绕z轴时，支链的主动驱动力达到最大。中间支链既要平衡驱动和惯性力，又要支撑移动平台，承受液压缸的力。因此，中间支链的最大约束反力沿z轴方向。研究工作为主动支链驱动系统的设计、中间支链结构参数的确定以及控制系统的设计提供了理论依据。
For a hip joint simulator with a 3SPS+1PS spatial parallel manipulator as the core module, a formulation based on the Kane equation was derived for the dynamic characteristics of the simulator from the kinematics analysis of the model. The relationships of the velocities and accelerations between the moving platform and active branched-chains were deduced. The velocity and angular velocity components of the moving platform were served as the generalized velocities. And the dynamic model was established by obtaining the generalized active forces and inertial forces. Then the driving forces and powers of the active branched-chains and the constraint reaction forces of the intermediate branched-chain were simulated in the numerical method. The results showed that the active driving forces of the branched-chains reached their respective maximum when the moving platform rotated into 0.13∘aroundX-axis, 2∘aroundY-axis, and 18∘aroundZ-axis. And the intermediate branched-chain needed to balance the driving and inertia forces, as well as support the moving platform and load the force of hydraulic cylinder. Therefore, the maximum constraint reaction force of the intermediate branched-chain is along theZ-axis. The research works provided a theoretical basis for the design of the active branched-chains driving system and the structural parameters of the intermediate branched-chain, as well as for the control system.
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影响因子：
10.4
作者：
S. Staicu
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影响因子：
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作者：
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通讯作者：
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影响因子：
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作者：
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通讯作者：
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通讯作者：
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影响因子：
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