基于Creo及SimMechanics对3-TPT并联机构的运动学仿真与模拟

摘要

This article makes a study of 3-TPT paral el mechanism and uses Creo 2.0 to simulate its kinematics and set up the virtual prototype model, and then deduces the positive and inverse solving equations. By means of the functions of Matlab SimMechanics module in modeling dynamic system,3-TPT model is eatablished and the fuzzy PID control er is set up by Simulink. Combined with the control er, the dynamic simulation is carried out to obtain the velocity curve. Through the analysis and study of these curves, it comes to the conclusion that its moveability and smoothness is better. This method can be used not only to visual y analyses the movement of the paral el mechanism, but also to optimize the structure parameters,analyses the performance and give a reference to the design of fuzzy PID control er.%针对一种3-TPT并联机构进行运动学模拟仿真，利用Creo 2.0建立了虚拟样机模型，并推导出了并联机构的运动学正、逆解方程。借助于Matlab中SimMechanics模块的系统动态建模功能，创建了3-TPT并联机构运动模型；利用Simulink和模糊控制箱建立了模糊PID控制器，将其与SimMechanics模型连接，对3-TPT并联机构进行动态仿真模拟，得出伸缩杆位速度变化曲线；通过对曲线的分析研究，可以得出该并联机构的运动平稳性较好。该方法能够直观地对并联机构进行可视化运动分析，进而可为3-TPT并联机构的结构参数优化、性能分析及模糊PID控制器的设计提供参考依据。