用于平面喷涂机的两种二自由度并联机构动力学分析与比较

摘要

In this paper, two kinds of 2-DOF parallel mechanisms are proposed to use as the actuator for plane sprayer. The dynamic equation of two mechanisms based on the Lagrange equation is derived, the two mechanisms on the terminal operating point （spray gun position） which do the circular and elliptical trajectory are simulated by using Matlab, the variation of driving force of mechanism active member were obtained. The present results provide the reference value for the selection and synthesis and control strategy of mechanism.%提出了两种可用作平面喷涂机执行机构的二自由度并联机构,采用拉格朗日法建立了两机构的动力学模型,推导了机构动力学方程;运用Matlab软件仿真得出两机构末端执行点（可作为喷枪位置）沿圆和椭圆轨迹运动时机构主动构件驱动力的变化规律。