6杆并联机构运动学及杆受力的仿真

摘要

Hexapod is one example of a parallel connection mechanism. This paper simulates the movement of a hexapod, analyses the velocity and acceleration of the movable platform and the force acted on the rods. Inside a specific workspace, the cure of velocity and acceleration of the platform and the force of the rods when the platform moves is drawn by a simulation program. According to the results, the factors that influence the veracity and stability of the platform's movement are discovered. The relation between the maximum force of rods and maximum acceleration of platform indicates the mechanism has good dexterity and the platform can move with high velocity and acceleration. The results also provide reference for the control of the mechanism.%在给定的工作空间下，对6杆并联机构动平台的运动过程进行了仿真，用计算机程序模拟了动平台做圆周平动及定点摇动时的速度、加速度及各杆受力的变化情况.通过动平台的速度和加速度曲线，分析了影响动平台运动的准确性和平稳性的原因；通过6根杆的最大受力和动平台最大加速度之间的关系，表明并联机构在给定的工作空间中具有较好的操作灵活性，并可使动平台达到较大的速度和加速度.本文研究结果为并联机床的控制提供了必要的参考.