Kinematics And Dynamics Analysis Of Aircraft Component Attitude Adjustment Mechanism

The parallel mechanism has the advantages of compact structure,high rigidity,strong carrying capacity,small error,easy control,etc.It has wide application in industrial automation and plays an important role.This paper takes the 3-PPPS parallel mechanism adopted by an aerospace equipment manufacturing enterprise to develop the aircraft component attitude and posture equipment as the research object.By establishing the geometric model and mathematical model of the mechanism and combining the adams virtual simulation software,the mechanism is deeply in-depth kinematics.With the analysis and research of kinetics,the results can provide theoretical and technical support for the practical application of 3-PPPS mechanism.The research of the thesis is divided into the following three aspects.1.Position analysis of 3-PPPS parallel mechanismFirstly,the research background of this thesis is introduced.The research status and research results of parallel mechanisms at home and abroad are briefly reviewed.The structure of 3-PPPS mechanism is introduced and the mathematical model of the mechanism is established.According to the movement of 3-PPPS mechanism The sub-and structural features analyzed the degree of freedom of the mechanism according to the modified GK formula;established the constraint equation of the mechanism,and solved the redundant drive problem of the mechanism by using 1stOpt software;then analyzed the position positive solution and the position inverse solution of the mechanism respectively.Solve the calculation.2.Kinematics and dynamics analysis of 3-PPPS parallel mechanismThe first-order second-order derivation operation is performed on the established mechanism constraint equation,thereby obtaining the mechanism velocity,acceleration,angular velocity and angular acceleration;the dynamics analysis of the parallel mechanism according to the Newton-Euler equation;and the dynamics of the mechanism using the generalized inverse matrix The equation is solved.On the basis of this,the numerical examples of the velocity,acceleration,angular velocity,angular acceleration and dynamic equation of the mechanism are calculated by using Matlab software programming.3.Simulation analysis of 3-PPPS parallel mechanism based on adamsThe ceo software is used to establish the 3D geometric model of the mechanism,and the model is imported into the adams software for simulation analysis.The motion pair of the mechanism is added,the spline curve is used to solve the redundant driving problem of the mechanism,and the simulation curve of the mechanism is drawn;the simulation result is The theoretical calculation results are compared to verify the correctness of the kinematics and dynamics analysis of the previous mechanism.