非对称4自由度3SPS+PS并联机构平台的力结构性能分析
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摘要
非对称4自由度3SPS+PS并联机构中,4条支链在联接动静平台四个角点,以该机构为研究对象,建立了机构模型与运动学模型,并得到运动雅克比矩阵。根据运动雅克比矩阵与力雅克比矩阵的对偶关系,得到机构的力雅克比矩阵。给定动平台的负载及位置,建立受力模型,分析当负载在作用点0°~360°变化时,四个移动副的受力情况。采用MATLAB软件画出其受力图。运动学模型的建立以及分析结果对该平台样机的控制以及强度校核有指导意义。
The fix platform and the move platform of the parallel mechanism with 3SPS + PS are linked with four chains at the corner of the platform,the mechanism model and kinematics model is established,the force Jacobi matrix is obtained. According to the relation of kinematics Jacobi matrix and force jacobian matrix,the duality of the force jacobian matrix is deduced. The load and the position of the load are given,the mechanical model is established,the analysis is conducted when the load changes at the position with the changes of 0° ~ 360°,and then force of the four prismatic pairs are derived,and using MATLAB software to draw out the performance charts. The results of the analysis are important to the structure design and strength analysis.
The fix platform and the move platform of the parallel mechanism with 3SPS + PS are linked with four chains at the corner of the platform,the mechanism model and kinematics model is established,the force Jacobi matrix is obtained. According to the relation of kinematics Jacobi matrix and force jacobian matrix,the duality of the force jacobian matrix is deduced. The load and the position of the load are given,the mechanical model is established,the analysis is conducted when the load changes at the position with the changes of 0° ~ 360°,and then force of the four prismatic pairs are derived,and using MATLAB software to draw out the performance charts. The results of the analysis are important to the structure design and strength analysis.
引文
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2 Gosselin C M,Stpierre E.Development and experimentation of a fast3 -DOF camera-orienting device.International Journal of Robtics Research,1997;16(5):619—630
3 董成林,刘海涛,黄田.含冗余驱动支链4-UPS&UP并联机构的运动学性能分析.机械工程学报,2016;(5):124—129Dong Chenglin,Liu Haitao,Huang Tian.Kinematic performance analysis of redundantly actuated 4-UPS&UP parallel manipulator.Journal of Mechanical Engineering,2016;(5):124—129
4 张志旭,洪振宇,张亚伟,等.一种少自由度飞行模拟实验台的尺度综合方法.机械科学与技术,2017;(3):1—6Zhang Zhixu,Hong Zhenyu,Zhang Yawei,et al.Dimensional synthesis of Less DOF experiment platform of flight simulator.Mechanical Science and Technology for Aerospace Engineering,2017;(3):1 —6
5 朱城伟,王亮,陈健伟,等.基于4-SPS(PS)并联机构的自动调平系统研究.液压与气动,2016;(6):102—108Zhu Chengwei,Wang Liang,Chen Jianwei,et al.Study of automatic leveling system based on 4-SPS(PS)parallel mechanism.Chinese Hydraulics&Pneumatics,2016;(6):102—108
6 郭希娟,蒙小刚,王玉镇,等.一种新型共轴式直升机操纵机构运动学分析.机械工程学报,2016;(1):47—56Guo Xijuan,Meng Xiaogang,Wang Yuzhen,et al.Kinematic analysis of a new type of coaxial helicopter control mechanism.Journal of Mechanical Engineering,2016;(1):47—56
7 李俊帅,马春生,李瑞琴,等.新型混联机床主体——3UPS+1 RPU并联机构的自由度分析与仿真.科学技术与工程,2017;17 (8):160—164Li Junshuai,Ma Chunsheng,Li Ruiqin,et al.Analysis and simulation on the degree of freedom of 3UPS+1RPU parallel mechanism of the main body of the new parallel machine tool.Science Technology and Engineering,2017;7(8):160—164
8 王学雷,刘峰,杜雄,等.直升机自动倾斜器等效并联机构自由度分析.机械设计与制造,2014;(1):59—61Wang Xuelei,Liu Feng,Du Xiong,et al.Analysis of freedoms of helicopter swashplate's equivalent parallel mechanisms.Machinery Design&Manufacture,2014;(1):59—61
9 柳江,黎晓伟,张业,等.少自由度并联机构馈能悬架运动学特性分析.科学技术与工程,2016;32:132—138Liu Jiang,Li Xiaowei,Zhang Ye,et al.Kinematics analysis on lower-mobility parallel mechanism for energy-regenerative suspension system.Science Technology and Engineering,2016;32:132—138
10 尹小琴,龚智强,马履中,等.两种新型并联机构的自由度及运动特性分析.机械设计与制造,2010;(9):102—104Yin Xiaoqin,Gong Zhiqiang,Ma Lvzhong,et al.Analysis of DOF and motion characteristics for two new kinds of parallel mechanism.Machinery Design&Manufacture,2010;(9):102—104