﻿ 基于向量键合图法的3-PPR型平面并联机构动力学分析

# 基于向量键合图法的3-PPR型平面并联机构动力学分析The Dynamic Analysis for 3-PPR Planar Parallel Mechanism Based on Vector Bond Graph Method

Abstract: For improving the reliability and efficiency of the dynamic analysis for planar parallel mechanism, the corresponding vector bond graph procedure is proposed. From the moving constraint relations between components of 3-PPR planar parallel mechanism, the corresponding vector bond graph model of the mechanism is made by assembling the vector bond graph models of planar rigid body, revolute joint and translational joint. For the problem of differential causality loop brought by nonlinear geometric constraints between components of the mechanism, the corresponding effective method is proposed. As a result, the algebraic difficulty in the mechanism automatic modeling and analysis is overcome. By the corresponding algorithm, the computer aided dynamic modeling and analysis of 3-PPR parallel mechanism is realized. By a practical example system, the reliability and validity of the procedure proposed are illustrated.

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