探月工程3UPS-PU并联机构的动力学建模与分析
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摘要
根据探月工程采样封装专项试验的要求,提出了一种3UPS-PU并联机构作为模拟着陆上升组合体在月球表面着陆姿态的实验平台。以此机构为研究对象,对其约束方程和位姿关系进行了分析,推导出驱动支链的杆长表达式和雅可比矩阵。在此基础上,利用虚功原理对该机构进行了动力学分析,建立了动力学模型。最后对典型工况进行MATLAB和ADAMS仿真验证,得到了驱动支链的杆长和驱动力变化规律,且仿真结果的误差非常小,验证了分析方法的正确性和可行性,解决了3UPS-PU并联机构运动学和动力学相关的一系列问题,同时该方法也适用于类似机构的研究与分析。
According to the requirements of sample package special test in the lunar exploration project,a 3UPS-PU parallel mechanism was proposed as an experiment platform simulating land and rise combination's landing attitude on the lunar surface. The constraint equations and pose relationship of this mechanism were analyzed to derive length expressions of driven branched stem and Jacobian matrices. On this basis,the dynamics of this mechanism was analyzed by the principle of virtual work. Then the dynamic model was created. Finally,the typical working condition was simulated by MATLAB and ADAMS.Variation of the driving force and length of drive rod was obtained. What's more,the error value of the simulation results was very small. It verified the correctness and feasibility of the analysis method. The method can not only solve a range of issues related to kinematics and dynamics of 3UPS-PU parallel mechanism,but also be applicable to research and analysis of similar mechanisms.
According to the requirements of sample package special test in the lunar exploration project,a 3UPS-PU parallel mechanism was proposed as an experiment platform simulating land and rise combination's landing attitude on the lunar surface. The constraint equations and pose relationship of this mechanism were analyzed to derive length expressions of driven branched stem and Jacobian matrices. On this basis,the dynamics of this mechanism was analyzed by the principle of virtual work. Then the dynamic model was created. Finally,the typical working condition was simulated by MATLAB and ADAMS.Variation of the driving force and length of drive rod was obtained. What's more,the error value of the simulation results was very small. It verified the correctness and feasibility of the analysis method. The method can not only solve a range of issues related to kinematics and dynamics of 3UPS-PU parallel mechanism,but also be applicable to research and analysis of similar mechanisms.
引文
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[11]苑飞虎,赵铁石,刘晓,等.一种六输入三自由度并联平台机构分析[J].机器人,2013,35(4):456-461.
[12]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2006.
[2]SHIAU Ting Nung,TSAI Yi Jeng,TSAI Meng Shiun.Nonlinear dynamic analysis of a parallel mechanism with consideration of joint effects[J].Mechanism and Machine Theory,2008,43(4):491-505.
[3]YUAN Wei Hsiang,TSAI Meng Shiun.A novel approach for forward dynamic analysis of 3-PRS parallel manipulator with consideration of friction effect[J].Robotics and Computer-Integrated Manufacturing,2014,30(3):315-325.
[4]王英波,黄其涛,郑书涛,等.Simulink和Sim Mechanics环境下并联机器人动力学建模与分析[J].哈尔滨工程大学学报,2012,33(1):100-105.
[5]陈修龙,王成硕.基于牛顿—欧拉法的4-UPS-RPS机构刚体动力学分析[J].计算机集成制造系统,2014,20(7):1709-1715.
[6]王庚祥,刘宏昭.考虑球面副间隙的4-SPS/CU并联机构动力学分析[J].机械工程学报,2015,51(1):43-51.
[7]ALTUZARRA O,ZUBIZARRETA A,CABANES I,et al.Dynamics of a four degrees-of-freedom parallel manipulator with parallelogram joints[J].Mechatronics,2009,19(8):1269-1279.
[8]JAIME Gallardo-Alvarado,CARLOS R.Aguilar-Najera,LUIS Casique-Rosas,et al.Kinematics and dynamics of 2(3-RPS)manipulators by means of screw theory and the principle of virtual work[J].Mechanism and Machine Theory,2008,43(10):1281-1294.
[9]STAICU S.Dynamics analysis of the Star parallel manipulator[J].Robotics and Autonomous Systems,2009,57(11):1057-1064.
[10]姜峣,李铁民,王立平.过约束并联机构动力学建模方法[J].机械工程学报,2013,49(17):123-129.
[11]苑飞虎,赵铁石,刘晓,等.一种六输入三自由度并联平台机构分析[J].机器人,2013,35(4):456-461.
[12]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2006.