一种2自由度柔顺移动并联机构研究及其在对接装置上应用
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摘要
利用伪刚体模型研究了柔性曲梁的弹性回复力和刚度特性,推导出了柔性曲梁的直线刚度表达式,其结果表明通过改变曲梁的预变形量可以改善曲梁的刚度特性,使其具有近似线性化刚度特点。利用该特点,提出了一种双曲梁支链结构形式。结合伪刚体模型和螺旋理论,探讨了该双曲梁支链的自由度和运动特性,进而设计出了一种2自由度柔顺移动并联机构。根据机构运动特点,推导出了其简化运动学和动力学方程,给出了并联机构平台的工作空间和刚度性能,对并联机构平台的极限扭转力矩进行了研究,并制作了柔顺移动并联机构实物样机,对其运动特性进行了试验验证。最后,将2自由度柔顺移动并联机构应用于无人艇水样对接装置设计,利用ADAMS仿真了对接过程,结果表明,该装置能在有较大的径向平移偏差和角度偏差的情况下,完成公头和母头的柔顺对接。
The pseudo-rigid-body model is used to study the elastic force and the stiffness characteristics of the flexible curved beam.Based on that, the stiffness of the flexible curved beam is deduced. The results show that the stiffness of the curved beam can be improved by changing the pre-deformation of the curved beam, which makes the curved beam has the characteristics of the approximate linear stiffness. By virtue of this feature, a kind of kinematic chain formed by double curved beams is Proposed. Based on the pseudo-rigid-body model and screw theory, the mobility and the kinematics of the double-curved-beam branch are discussed. A novel 2-DOF compliant translational parallel mechanism is designed. The simplified kinematic and dynamic equations of this mechanism are deduced, and the work space, the stiffness performance and the ultimate torque of the parallel mechanism platform are analyzed. Finally, the prototype of this compliant parallel mechanism is manufactured to verify its kinematic characteristics. The2-DOF compliant translational parallel mechanism is applied to the design of the docking device of the water sample collection system on USV. The docking process is simulated by ADAMS. The results show that this device makes the docking between the male and female connectors smooth with the circumstance of large radial translational deviation and angular deviation.
The pseudo-rigid-body model is used to study the elastic force and the stiffness characteristics of the flexible curved beam.Based on that, the stiffness of the flexible curved beam is deduced. The results show that the stiffness of the curved beam can be improved by changing the pre-deformation of the curved beam, which makes the curved beam has the characteristics of the approximate linear stiffness. By virtue of this feature, a kind of kinematic chain formed by double curved beams is Proposed. Based on the pseudo-rigid-body model and screw theory, the mobility and the kinematics of the double-curved-beam branch are discussed. A novel 2-DOF compliant translational parallel mechanism is designed. The simplified kinematic and dynamic equations of this mechanism are deduced, and the work space, the stiffness performance and the ultimate torque of the parallel mechanism platform are analyzed. Finally, the prototype of this compliant parallel mechanism is manufactured to verify its kinematic characteristics. The2-DOF compliant translational parallel mechanism is applied to the design of the docking device of the water sample collection system on USV. The docking process is simulated by ADAMS. The results show that this device makes the docking between the male and female connectors smooth with the circumstance of large radial translational deviation and angular deviation.
引文
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[2]LIU X J,WANG Q M,WANG J J.Kinematics,dynamics and dimensional synthesis of a novel 2-DOF translational manipulator[J].Journal of Intelligent and Robotic Systems,2005,41(4):205-224.
[3]LIU X J,WANG J,PRITSCHOW G.On the optimal kinematic design of the PRRRP 2-DOF parallel mechanism[J].Mechanism and Machine Theory,2006,41(9):1111-1130.
[4]WU J,WANG J,LI T,et al.Analysis and application of a 2-DOF planar parallel mechanism[J].Journal of Mechanical Design,2007,129(4):434-437.
[5]KIM H S.Development of two types of novel planar translational parallel manipulators by using parallelogram mechanism[J].Journal of the Korean Society for Precision Engineering,2007,24(8):50-57.
[6]HUANG T,LI Z,LI M,et al.Conceptual design and dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations[J].Journal of Mechanical Design,2004,126(3):449-455.
[7]YANG Y,PENG Y,PU H,et al.Design of2-degrees-of-freedom(DOF)planar translational mechanisms with parallel linear motion elements for an automatic docking device[J].Mechanism and Machine Theory,2018,121:398-424.
[8]LI Y,XU Q.Development and assessment of a novel decoupled XY parallel micropositioning platform[J].IEEE/ASME Transactions on Mechatronics,2010,15(1):125-135.
[9]LI Y,HUANG J,TANG H.A compliant parallel XYmicromotion stage with complete kinematic decoupling[J].IEEE Transactions on Automation Science and Engineering,2012,9(3):538-553.
[10]AWTAR S,SLOCUM A H.Constraint-based design of parallel kinematic XY flexure mechanisms[J].Journal of Mechanical Design,2007,129(8):816-830.
[11]HOWELL L L.Compliant mechanisms[M],New York:Wiley,2001.
[12]余跃庆,徐齐平,周鹏.复合载荷作用下柔顺机构的PR伪刚体新模型[J].机械工程学报,2013,49(15):9-14.YU Yueqing,XU Qiping,ZHOU Peng.New PRpseudo-rigid-body model of compliant mechanisms subject to combined loads[J].Journal of Mechanical Engineering,2013,49(15):9-14.
[13]陈贵敏,李端玲.平面柔顺机构的自由度[J].机械工程学报,2010,46(13):48-53.CHEN Guimin,LI Duanling.Degree of freedom of planar compliant mechanisms[J].Journal of Mechanical Engineering,2010,46(13):48-53.
[14]PEI X,YU J,ZONG G,et al.Design of compliant straight-line mechanisms using flexural joints[J].Chinese Journal of Mechanical Engineering,2014,27(1):146-153.
[15]WANG N,LIANG X,ZHANG X.Pseudo-rigid-body model for corrugated cantilever beam used in compliant mechanisms[J].Chinese Journal of Mechanical Engineering,2014,27(1):122-129.
[16]于靖军,毕树生,宗光华,等.基于伪刚体模型法的全柔性机构位置分析[J].机械工程学报,2002,38(2):75-78.YU Jingjun,BI Shusheng,ZONG Guanghua,et al.Kinematics analysis of fully compliant mechanisms using the pseudo-rigid-body model[J].Journal of Mechanical Engineering,2002,38(2):75-78.
[17]VENKITESWARAN V K,SU H J.A versatile 3Rpseudo-rigid-body model for initially curved and straight compliant beams of uniform cross section[J].Journal of Mechanical Design,2018,140(9):092305.
[18]CHEN G,MA F,HAO G,et al.Modeling large deflections of initially curved beams in compliant mechanisms using chained beam constraint model[J].Journal of Mechanisms and Robotics,2019,11(1):011002.
[19]EDWARDS B T,JENSEN B D,HOWELL L L.Apseudo-rigid-body model for initially-curved pinned-pinned segments used in compliant mechanisms[J].Journal of Mechanical Design,2001,123(3):464-472.
[20]中国船舶工业集团公司,全国船用机械标准化技术委员会.2007.GB/T 12777-2008,金属波纹管膨胀节通用技术条件[S].北京:中国标准出版社,2009.China State Shipbuilding Corporation Limited,National Marine Machinery Standardization Technical Committee.2007.GB/T 12777-2008,General technical conditions for metal bellows expansion joints[S].Beijing:China Standard Press,2009.