Reverse dynamics analysis and verification of H-shaped parallel mechanism

YANG Jidong; HU Xiaogang; YANG Zhongshan; DUO Weixin

doi:10.13873/J.1000-9787(2021)04-0015-04

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Reverse dynamics analysis and verification of H-shaped parallel mechanism

更新时间：2025-09-11

- Reverse dynamics analysis and verification of H-shaped parallel mechanism
- Issue 4, Pages: 15-18+22(2021)
- 作者机构：
  
  重庆大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2021)04-0015-04
  CLC： TH112
- Published：2021
- 稿件说明：
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YANG Jidong, HU Xiaogang, YANG Zhongshan, et al. Reverse dynamics analysis and verification of H-shaped parallel mechanism[J]. 2021, (4): 15-18+22.
DOI：

YANG Jidong, HU Xiaogang, YANG Zhongshan, et al. Reverse dynamics analysis and verification of H-shaped parallel mechanism[J]. 2021, (4): 15-18+22. DOI： 10.13873/J.1000-9787(2021)04-0015-04.

摘要

对一种H形并联机构进行了运动学和动力学分析

求出了机构的自由度

运用叠加原理建立了机构的运动学逆解、速度和加速度模型。利用虚功原理建立了机构的反向动力学模型

在分析机械系统中各运动部件在虚位移下的广义力基础上

推导出其动力学方程。通过MATLAB与Adams联合仿真以及特性实验

验证了反向动力学模型的正确性。为相似并联机构的动力学分析和轨迹规划奠定了基础

也为少自由度并联机器人精确控制提供了理论支撑。

Abstract

Kinematics and dynamics analysis of a H-shaped parallel mechanism is conducted

the degree of freedom of the mechanism is obtained

kinematics superposition principle is used to establish inverse kinematics

velocity and acceleration models for the mechanism.The inverse dynamics model is obtained by using the D ’Alembert-Lagrangian principle.Based on the analysis of the generalized forces of each moving parts in the mechanical system under virtual displacement

the dynamic equations are derived.Through the joint simulation of MATLAB and Adams with characteristic test

the correctness of the inverse dynamic model is verified.Which lays a foundation for the dynamic analysis and trajectory planning of similar parallel mechanisms

and provides theoretical support for precise control of parallel robots with less degrees of freedom.

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