3-PCR并联减振机构动力学分析

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A three translation vibration reduction platform, based on 3-PCR parallel mechanism, was designed. The dynamic equation was established by using Lagrangeg approach and simulated by Matlab. It is shown that the phase difference of driving forces is （2/3）π, along with the position of the mobile platform respect to the fixed base increased, the driving forces decreased. In addition, when the fixed base with sides increased, the driving forces decreased, when the mobile platform with sides increased, the driving forces increased, and when the angles between the P joint axis and fixed base decreased, the driving forces decreased.为实现多自由度减振，以3-PCR并联机构为主体制定多维减振平台；利用拉格朗日法建立机构动力学方程。Matlab数值仿真结果表明，三驱动关节的驱动平衡力相位差为（2／3）π，随动平台相对定平台的位置增加，关节的驱动平衡力减小；当定平台边长增加时，驱动平衡力减小，动平台边长增加时，驱动平衡力增大；移动副轴线与定平台夹角减小时，驱动平衡力减小。