Dynamics Modeling and Analysis of a 3-PPR Parallel Mechanism
Based on the homogeneous coordinate transformation principle,the integrated inverse kinematics of the 3-PPR parallel mechanism is established,and the first-order coefficient method is applied to work out its Jacobian matrix. The rigid-body dynamics model is derived by using the Lagrange equation. Co...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.05.011 |
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| _version_ | 1841547670344171520 |
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| author | Xie Zhijiang Wu Xiaoyong Zhang Jun Pang Zhi Sun Qi |
| author_facet | Xie Zhijiang Wu Xiaoyong Zhang Jun Pang Zhi Sun Qi |
| author_sort | Xie Zhijiang |
| collection | DOAJ |
| description | Based on the homogeneous coordinate transformation principle,the integrated inverse kinematics of the 3-PPR parallel mechanism is established,and the first-order coefficient method is applied to work out its Jacobian matrix. The rigid-body dynamics model is derived by using the Lagrange equation. Comparing the rigid-body dynamics simulation results under the typical working condition separately obtained by ADAMS and Matlab,the validity of theoretical analysis is verified. Then the flexible dynamics simulation is conducted by combining ANSYS and ADAMS,which forms the foundation of complete dynamics analysis. The research provides necessary information for dynamic performance analysis,control of the system and error analysis of the parallel mechanism,it also can be used to deal with the dynamics problem of similar parallel mechanisms. |
| format | Article |
| id | doaj-art-8f41dca9b9bd4415ab643e19d6f28368 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-8f41dca9b9bd4415ab643e19d6f283682025-01-10T14:22:59ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-0141535829930040Dynamics Modeling and Analysis of a 3-PPR Parallel MechanismXie ZhijiangWu XiaoyongZhang JunPang ZhiSun QiBased on the homogeneous coordinate transformation principle,the integrated inverse kinematics of the 3-PPR parallel mechanism is established,and the first-order coefficient method is applied to work out its Jacobian matrix. The rigid-body dynamics model is derived by using the Lagrange equation. Comparing the rigid-body dynamics simulation results under the typical working condition separately obtained by ADAMS and Matlab,the validity of theoretical analysis is verified. Then the flexible dynamics simulation is conducted by combining ANSYS and ADAMS,which forms the foundation of complete dynamics analysis. The research provides necessary information for dynamic performance analysis,control of the system and error analysis of the parallel mechanism,it also can be used to deal with the dynamics problem of similar parallel mechanisms.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.05.011Parallel mechanismKinematicsDynamicsLagrange equation |
| spellingShingle | Xie Zhijiang Wu Xiaoyong Zhang Jun Pang Zhi Sun Qi Dynamics Modeling and Analysis of a 3-PPR Parallel Mechanism Jixie chuandong Parallel mechanism Kinematics Dynamics Lagrange equation |
| title | Dynamics Modeling and Analysis of a 3-PPR Parallel Mechanism |
| title_full | Dynamics Modeling and Analysis of a 3-PPR Parallel Mechanism |
| title_fullStr | Dynamics Modeling and Analysis of a 3-PPR Parallel Mechanism |
| title_full_unstemmed | Dynamics Modeling and Analysis of a 3-PPR Parallel Mechanism |
| title_short | Dynamics Modeling and Analysis of a 3-PPR Parallel Mechanism |
| title_sort | dynamics modeling and analysis of a 3 ppr parallel mechanism |
| topic | Parallel mechanism Kinematics Dynamics Lagrange equation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.05.011 |
| work_keys_str_mv | AT xiezhijiang dynamicsmodelingandanalysisofa3pprparallelmechanism AT wuxiaoyong dynamicsmodelingandanalysisofa3pprparallelmechanism AT zhangjun dynamicsmodelingandanalysisofa3pprparallelmechanism AT pangzhi dynamicsmodelingandanalysisofa3pprparallelmechanism AT sunqi dynamicsmodelingandanalysisofa3pprparallelmechanism |