基于虚功原理的4PUS-1RPU并联机构动力学分析

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针对含中央约束支链的4PUS-1RPU并联机构,推导了机构内各构件的速度、加速度和系统输出速度、加速度间的运动学传递关系,求解了机构各条支链的雅克比矩阵,运用虚功原理建立了4PUS-1RPU并联机构的动力学模型。运用MATLAB编写了该模型的仿真程序,进行了逆动力学仿真,为该机构动力学特性的深入分析和控制策略的研究提供了参考。 According to the 4pus-1rpu parallel mechanism with a central constraint chain,this paper derives the velocity and acceleration transmission relationships between the component of the mechanism and the system output,solves the link Jacobean matrices,establishes the dynamic model based on the principle of virtual work.The simulation program of the model is developed using MATLAB,and the inverse dynamic characteristics are simulated,this provides a reference for the research of the parallel mechanism of dynamic characteristics analysis and control strategy.