2-UPR-SPR并联机构的刚度与谐响应分析
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摘要
目的针对一种两转一移三自由度封装并联机构2-RPU-SPR自动化包装过程中高工作精度的特殊应用要求,运用有限元法对其进行刚度与谐响应分析,从而研究机构的刚度和抗振性能。方法运用Solid Works建立三维实体模型,然后导入Ansys Workbench软件进行分析。结果得到机构在外力作用下3种不同姿态的位移变形云图,并通过模态分析,得知2-RPU-SPR并联机构1—6阶固有频率分别为130.39,133.42,218.35,760.36,768.07,776.96 Hz,以及各阶频率下的振型。在此基础上进行谐响应分析,得出动平台在x,y,z轴方向的位移响应曲线。结论找出了机构刚度的薄弱部位,得出了刚度随位姿变化的规律;通过谐响应分析验证了该并联机构的抗振性能,得出机构应避免的敏感频率,这为该封装并联机构的进一步动态设计与优化奠定了基础。
The work aims to analyze the stiffness and harmonic response of package parallel mechanism of 2-UPR-SPR which has three degrees of freedom including two turns and one move, thus researching the stiffness and anti-vibration performance of the mechanism, with respect to the special application requirement of high working precision in the process of automatic packaging.The 3D entity model was established by Solid Works and then imported into software Ansys Workbench for analysis.The displacement deformation cloud of the mechanism under three different postures on the action of external force was obtained.Through the modal analysis, the natural frequencies from first order to sixth order of 130.39, 133.42, 218.35, 760.36, 768.07, 776.96 Hz and the vibration mode of each order frequency of the 2-UPR-SPR parallel mechanism were obtained.On the basis of modal analysis, the displacement response curve of platform along x, y, z directions was deprived by harmonic response analysis.The weak position of mechanism stiffness can be seen, and the rule of the change of stiffness with the position is obtained.The anti-vibration performance of the parallel mechanism is proved by harmonic response analysis, and the sensitive frequency that the mechanism should avoid is got.It lays the foundation for further dynamic design and optimization of the package parallel mechanism.
The work aims to analyze the stiffness and harmonic response of package parallel mechanism of 2-UPR-SPR which has three degrees of freedom including two turns and one move, thus researching the stiffness and anti-vibration performance of the mechanism, with respect to the special application requirement of high working precision in the process of automatic packaging.The 3D entity model was established by Solid Works and then imported into software Ansys Workbench for analysis.The displacement deformation cloud of the mechanism under three different postures on the action of external force was obtained.Through the modal analysis, the natural frequencies from first order to sixth order of 130.39, 133.42, 218.35, 760.36, 768.07, 776.96 Hz and the vibration mode of each order frequency of the 2-UPR-SPR parallel mechanism were obtained.On the basis of modal analysis, the displacement response curve of platform along x, y, z directions was deprived by harmonic response analysis.The weak position of mechanism stiffness can be seen, and the rule of the change of stiffness with the position is obtained.The anti-vibration performance of the parallel mechanism is proved by harmonic response analysis, and the sensitive frequency that the mechanism should avoid is got.It lays the foundation for further dynamic design and optimization of the package parallel mechanism.
引文
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[2]李明辉,李波.基于Ansys的注塑机前模板结构参数优化设计[J].包装工程,2016,37(3):116—120.LI Ming-hui,LI Bo.Optimization Design of the Structure Parameters of the Injection Molding Machine Based on Ansys[J].Packaging Engineering,2016,37(3):116—120.
[3]白龙,孙牧原,崔国华,等.三平动并联机构动力学建模与工作空间分析[J].包装工程,2015,36(23):88—93.BAI Long,SUN Mu-yuan,CUI Guo-hua,et al.Three Translational Parallel Mechanism Dynamics Modeling and Workspace Analysis[J].Packaging Engineering,2015,36(23):88—93.
[4]王飞博,陈巧红,武传宇,等.2-UPR-SPR并联机构尺度综合[J].机械工程学报,2015,51(21):24—32.WANG Fei-bo,CHEN Qiao-hong,WU Chuan-yu,et al.2-UPR-SPR Parallel Mechanism Scale Synthesis[J].Journal of Mechanical Engineering,2015,51(21):24—32.
[5]李秦川,柴馨雪,陈巧红,等.2-UPR-SPR并联机构转轴分析[J].机械工程学报,2013,49(21):62—69.LI Qin-chuan,CHAI Xin-xue,CHEN Qiao-hong,et al.Analysis of Rotating Shaft of 2-upr-spr Parallel Mechanism[J].Chinese Journal of Mechanical Engineering,2013,49(21):62—69.
[6]胡波,路懿,许佳音,等.新型过约束并联机构2RPU+UPU动力学模型[J].机械工程学报,2011,47(11):36—43.HU Bo,LU Yi,XU Jia-yin,et al.Novel Over Constrained Parallel Mechanism of 2RPU+UPU Dynamic Model[J].Mechanical Engineering,2011,47(11):36—43.
[7]池腾腾,王南,周莎莎,等.一种并联机构运动副摆放位置不同的静力学分析[J].包装工程,2016,37(17):157—161.CHI Teng-Teng,WANG Nan,ZHOU Sa-sa,et al.A Parallel Mechanism Motion Position Analysis of Different[J].Static Display Packaging Engineering,2016,37(17):157—161.
[8]罗继曼,蔡光起,李景奎.基于ANSYS的新型3-TPS并联机床静刚度分析[J].沈阳建筑大学学报(自然科学版),2006,22(2):341—344.LUO Ji-man,CAI Guang-qi,LI Jing-kui.A New Type of 3-TPS Based on ANSYS and the Static Stiffness Analysis of Online Bed[J].Journal of Shenyang Construction University(Natural Science Edition),2006,22(2):341—344.
[9]叶勇,康亮.一种少自由度3-SPR并联机构的刚度和弹性变形分析[J].机械传动,2014(7):131—134.YE Yong,KANG Liang.Analysis of Stiffness and Elastic Deformation of a 3-SPR Parallel Mechanism with Less Freedom Degree[J].Mechanical Transmission,2014(7):131—134.
[10]彭俊泉,任衍坤,刘晶晶,等.基于3UPS-UP并联机构的磁流变液抛光装置有限元分析[J].组合机床与自动化加技术,2015(7):37—40.PENG Jun-quan,REN Yan-kun,LIU Jing-jing,et al.The Finite Element Analysis of the Magneto Rheological Fluid Polishing Device Based on 3UPS-UP Parallel Mechanism[J].Combination Machine Tool and Automation Technology,2015(7):37—40.
[11]吴素珍,郭怡,田雨.RV减速器的谐响应分析[J].机械传动,2016(2):104—107.WU Su-zhen,GUO Yi,TIAN Yu.Harmonic Response Analysis of RV Reducer[J].Mechanical Transmission,2016(2):104—107.
[12]ARTHY M,MICHAEL J.Introduction of Theasme Journal of Mechanisms and Robotics[J].Journal of Mechanisms and Robotics,2009,1(1):1.
[13]LIU Xin-jun,WU Chao,WANG Jin-song,et al.Attitude Description Method of PPS Type Parallel Robotic Mechanisms[J].Chinese Journal of Mechanical Engineering,2008,44(10):19—23.
[14]杨启志,郭林强,宋俊朋,等.车辆并联多维减振座椅的模态分析[J].机械科学与技术,2016(9):1432—1438.YANG Qi-zhi,GUO Lin-qiang,SONG Jun-peng,et al.Modal Analysis of Multi Dimension Vibration Isolation Seat of Vehicle[J].Mechanical Science and Technology,2016(9):1432—1438.
[15]KONG X,JIN Y.Type Synthesis of 3-DOF Multimode Translational/spherical Parallel Mechanisms with Lockable Joints[J].Mechanism&Machine Theory,2015,96(25):323—333.