一种新型3-CRU并联机构的动力学建模.pdf

Mechanical Engineering and Technology 机械工程与技术, 2016, 5(4), 344-351 Published Online December 2016 in Hans. /journal/met /10.12677/met.2016.54042 Kinetic Modeling of a Novel 3-CRU Translational Parallel Mechanism 1 2 1 Dongjie Guo , Yangmin Li , Bin Li 1 School of Mechanical Engineering, Tianjin University of Technology, Tianjin 2 Faculty of Science and Technology, University of Macao, Macao th th th Received: Nov. 28 , 2016; accepted: Dec. 24 , 2016; published: Dec. 27 , 2016 Copyright © 2016 by authors and Hans Publishers Inc. This work is licensed under the Creative Commons Attribution International License (CC BY). /licenses/by/4.0/ Open Access Abstract This 3-CRU parallel mechanism has three CRU branched chain groups and this parallel mechanism has three characteristics of translational movement direction. In practical application, it does not require so much degree of freedom. Based on the investigation and collecting data, the device needs low degree of freedom. A novel 3-CRU translational parallel mechanism has been designed for adapting to this situation. In this paper, the position and speed of the mechanism are analyzed, and the Jacobi matrix of the mechanism has been obtained. According to the principle of virtual work, we established the kinetic model of 3-CRU translational parallel mechanism. It can provide the help for the researching on the accuracy of precision motion platform. Keywords Position Analysis, Kinetic Model, Jacobian Matrix, Virtual Work Principle 一种新型3-CRU并联机构的动力学建模 1 2 1 郭东杰 ，李杨民 ，李 彬 1天津理工大学机械工程学院，天津 2澳门大学科学技术学院