Dynamics Analysis of a 3-DOF Parallel Mechanism

摘要

Based on a 3-DOF parallel mechanism, this paper establishes the dynamic model by Lagrange method, and gets 3 calculation curves of the input driving generalized forces by theoretical calculations (MATLAB) and simulation (ADAMS). After analyzing the results of calculation and simulation, it verifies the correctness of dynamic model and its good dynamic performance. At last, it shows that the input driving parameters have a great influence on the driving generalized force. This paper lays a foundation for driving force design and stiffness analysis of the 3-DOF working platform physical prototype.