期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
DOI：10.5772/54731
语种：English
出版社：SAGE Publications
摘要：The acceleration performance function and dynamic performance evaluation combining the acceleration, velocity, gravity and external force of a 2-DoF planar parallel mechanism are presented in this paper. By means of the principle of virtual work, the inverse dynamic model and acceleration performance function of the planar parallel mechanism are setup. Based on the factors in the acceleration performance function, the effect on the acceleration performance of parallel mechanisms is investigated. Then a new method considering the acceleration factor, velocity factor, gravity factor and external force factor for dynamic performance evaluation of the parallel mechanism is introduced, which can evaluate the dynamic performance of high-speed parallel mechanisms more exactly. Based on this method, the evaluation indices used in dynamic optimization are introduced. These indices overcome the limitation of commonly used indices, and lay the foundation for dynamic optimization of parallel mechanisms.
