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首页> 外文会议>American Society of Mechanical Engineers(ASME) Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2004(DETC 2004) vol.2 pt B: Biennial Mechanisms and Robotics Conference; 20040928-1002; Salt Lake City,UT(US) >DYNAMIC BALANCING OF MULTI-DEGREE-OF-FREEDOM PARALLEL MECHANISMS WITH MULTIPLE LEGS
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DYNAMIC BALANCING OF MULTI-DEGREE-OF-FREEDOM PARALLEL MECHANISMS WITH MULTIPLE LEGS

机译：多腿多自由度并联机构的动态平衡

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摘要

This paper systematically presents an effective algorithm for the dynamic balancing of multi-degree-of-freedom parallel mechanisms with multiple legs and the dynamic equivalence between point masses and arbitrary moving platforms. The mass and inertia of the moving platform are replaced by point masses located at the points of attachment of the legs to the platform and the mechanisms are balanced by considering each of the legs independently. The validity and feasibility of this algorithm is first verified both theoretically and using numerical simulations in ADAMS. Two, three and four point masses are respectively discussed for different cases. Finally, some reactionless planar and spatial multi-degree-of-freedom parallel mechanisms synthesized based on this algorithm are given.
机译：本文系统地提出了一种有效的算法，用于多腿多自由度并联机构的动态平衡以及点质量与任意运动平台之间的动态等效。移动平台的质量和惯性由位于支腿与平台的连接点处的点质量代替，并且通过独立考虑每个支腿来平衡机械。该算法的有效性和可行性首先在理论上和使用ADAMS中的数值模拟进行了验证。针对不同情况分别讨论了两个，三个和四个点质量。最后，给出了基于该算法的无反应平面和空间多自由度并行机制。

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