Dynamics Modeling and Analysis of a 3-PPR Parallel Mechanism
Xie Zhijiang
Wu Xiaoyong
Zhang Jun
Pang Zhi
Sun Qi
Abstract：Based on the homogeneous coordinate transformation principle,the integrated inverse kinematics of the 3-PPR parallel mechanism is established,and the first-order coefficient method is applied to work out its Jacobian matrix.The rigid-body dynamics model is derived by using the Lagrange equation.Comparing the rigid-body dynamics simulation results under the typical working condition separately obtained by ADAMS and Matlab,the validity of theoretical analysis is verified.Then the flexible dynamics simulation is conducted by combining ANSYS and ADAMS,which forms the foundation of complete dynamics analysis.The research provides necessary information for dynamic performance analysis,control of the system and error analysis of the parallel mechanism,it also can be used to deal with the dynamics problem of similar parallel mechanisms.
Keywords：Parallel mechanismKinematicsDynamicsLagrange equation
Publication Date：2017-01-01
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：6( 53-58 )