Abstract: To research the effects of branch flexibility on output characteristics of parallel mechanism,3-CPaRR parallel mechanism was taken as a subject,and its kinematics of parallel mechanism was researched synthetically by analyzing its own spatial position relationship,together with its complete Decoupling was proved.Based on the spatial beam element model,the finite element theory and Lagrange equation,the elastic dynamic model of 3-CPaRR parallel mechanism under the conditions of flexed one branch and flexed three branches were respectively established by considering the coordination and dynamic constraints of each branch.To verify the correctness of elastic dynamic model,software Adams and Ansys were used for co-simulation.Numerical results were compared with the virtual prototype simulation results,and the result showed that the branch flexibility had important effects on the dynamic performance of parallel mechanism,and the correctness of elastic dynamic model of parallel mechanism was also verified.

Key words: 3-CPaRR parallel manipulator, decoupling, elastic dynamics, finite element, Lagrange equation

摘要： 为研究支链柔性化对并联机构输出运动特性的影响,本文以3-CPaRR并联机构为对象,研究了支链柔性化对并联机构输出运动特性的影响。根据该并联机构的空间位置关系,研究了其运动学规律,证明了该机构的完全解耦特性;基于空间梁单元模型、有限元理论和Lagrange方程,充分考虑各支链的运动协调关系和动力学约束,分别建立了单支链柔性化条件下和三支链均柔性化条件下的3-CPaRR并联机构弹性动力学模型;为验证理论建模的正确性,基于Adams与Ansys软件对该并联机构展开了弹性动力学的联合仿真。最后,将数值计算结果与虚拟样机仿真结果进行了分析比较,结果表明,各支链在柔性化条件下产生的弹性变形对并联机构的输出运动特性产生了重要影响,同时也验证了该并联机构弹性动力学模型的正确性。

关键词: 3-CPaRR并联机构, 解耦, 弹性动力学, 有限元, Lagrange方程