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基于凯恩法的大摆角混联机床并联机构的动力学分析.docx

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基于凯恩法的大摆角混联机床并联机构的动力学分析 Title:DynamicAnalysisofParallelMechanismofIndustrialSwing-AngleHybridCNCMachineToolBasedonKane'sMethod Abstract: Inrecentyears,parallelmechanismshavegainedsignificantattentionduetotheiradvantagesinprecision,high-speedoperations,andlargerangeofmotion.Thispaperfocusesonthedynamicanalysisofaparallelmechanism,specificallytheparallelmechanismofanindustrialswing-anglehybridCNCmachinetool,usingKane'sMethod.Theaimistounderstandthedynamicbehaviorofthemachinetoolandprovideinsightsforfurtherimprovementintermsofperformanceandstability. 1.Introduction Parallelmechanismshavebecomepopularinvariousapplications,includingrobotics,aerospace,andmachinetools.Theswing-anglehybridCNCmachinetoolisonesuchparallelmechanismthatcombinestheadvantagesofaCNCmachinetoolandaswing-anglemechanism.Thispaperaimstoanalyzethedynamicbehaviorofthismachinetooltoenhanceitsoperationalperformance. 2.KinematicAnalysis Beforeconductingdynamicanalysis,itisessentialtoperformkinematicanalysistoestablishtherelationshipbetweentheinputsandoutputsofthemachinetool.Thisinvolvesdeterminingtheposition,velocity,andaccelerationoftheendeffectorwithrespecttothebaseoftheparallelmechanism. 3.DynamicEquations Kane'sMethodisapowerfultoolusedfordynamicanalysisofmultibodysystems.Itprovidesasystematicapproachtoderivetheequationsofmotionforthesystem.ThissectiondescribestheapplicationofKane'sMethodtoformulatethedynamicequationsfortheparallelmechanismoftheswing-anglehybridCNCmachinetool. 4.InertiaAnalysis Understandingtheinertiapropertiesofthemachinetooliscrucialforanalyzingitsdynamicbehavior.Thissectiondiscussesthedeterminationoftheinertiamatrixanditseffectsonthedynamicperformanceofthemachinetool. 5.ForcesandMomentsAnalysis Inadditiontoinertiaforces,externalforcesandmomentsactingonthemachinetoolalsoinfluenceitsdynamicbehavior.Thissectionexaminesthedifferenttypesofforcesandmomentsactingontheparallelmechanismandtheireffects. 6.SimulationandResults Tovalidatethedevelopeddynamicmodel,simulationsareperformedusingnume