3自由度并联机构的动力学各向同性评价方法
Dynamic isotropic performance evaluation of a 3-DOF parallel manipulator

该文以应用于高速、高加速混联加工装备中的一种3-PRRU空间3自由度并联机构为研究对象，研究其动力学建模及动力学各向同性评价方法。基于虚功原理，建立了3-PRRU并联机构的动力学模型，并从动能角度出发，提出了两个评价机构各向同性性能的指标。针对该指标，提出了一种5维图像描述方法，并对3-PRRU并联机构进行各向同性性能评价。该动力学各向同性评价指标具有量纲统一、物理意义明确的优点，可以更准确地对并联机构的动力学性能分布进行表征。
Abstract：Dynamic modeling was used to evaluate a 3-PRRU parallel manipulator in a high-speed hybrid machine tool. The virtual work principle was used to develop the dynamic model of the 3-PRRU parallel mechanism with two new indices defined to evaluate the isotropy of dynamics from a kinetic energy viewpoint. The indices were then used in an atlas method for a five dimensions image. The results show that these indices accurately describe the isotropic performance of the 3-PRRU parallel manipulator. The two indices have uniform dimensions, clear physical meaning, and can accurately describe the dynamics of parallel manipulators.