6-RSS并联机构的运动学、动力学分析

摘要

以6-RSS并联机构为研究对象,运用D-H方法建立了各支链构件的坐标系.推导了支链的运动学反解的解析方程,并给出了各个构件的速度、加速度与动平台的速度、加速度的映射关系.然后用牛顿-欧拉方法推导了6-RSS并联机构的动力学方程,为该类机构的动力学分析奠定了基础.%In order to construct a complete dynamic model of 6-RSS parallel manipulator, a serial of coordinates on parts are defined with D-H method and a kinematics analysis on a single chain of leg is carried out. As a result,closed-form equations for the inverse kinematics and velocity and acceleration transformations from joint space to task space are given, then the dynamics model of 6-RSS parallel mechanism is deduced based on the Newton-Euler. The basis for dynamics analysis of mechanism with this type is established.