ANALYSIS ON DYNAMICS PERFORMANCE OF PLANAR 3-DOF PARALLEL MECHANISM

The dynamics equation of the planar 3-DOF(degree of freedom) parallel mechanism is established by Kane's method.In order to quantize the dynamics performance of mechanism,the acceleration performance evaluation index of mechanism is proposed based on the inertial matrix of the operating space. Because rotary joints bring the great centrifugal force and Coriolis force when mechanism is running with high speed,the high speed performance index is also proposed.The contour map is gained through researching the distribution of two indices in workspace,and the variety rule of the joint driving torques along the contour is analyzed.The result indicated that the distribution of the two indices in workspace has comparability,the work space of mechanism is determined,acceleration performance and high speed performance is considered,furthermore,the work space of mechanism and dynamics performance is balanced,and the reference is provided for the workspace determines and dynamics optimization design of the robot for applying in the high acceleration and the high speed work robot mechanism.