基于并联机构的单向地震模拟振动台分析
摘要
地震模拟振动台系统是地震工程研究工作中的重要试验设备之一,是在实验室中研究结构地震反应和破坏机理的最直接方法,它可以很好地再现地震过程和进行人工地震波的实验。本文以机构学、运动学、动力学等理论为工具,系统地对单向地震模拟振动台并联机构进行了分析研究。主要工作有：
首先,论文论述了地震模拟振动台基本的工作原理以及主要组成,分析了该并联机构的结构特点,并计算了机构的自由度,接着进行了几何交叉耦合分析,随后对位置正反解、速度、加速度、工作空间完成了求解,同时,运用MATLAB软件编制程序进行了仿真分析计算；
其次,针对球铰的结构特征,通过分析球面接触时轴承与轴颈间的相对运动关系,计算出了存在的摩擦力与摩擦力矩,并建立了地震模拟振动台在考虑摩擦情况下的动力学模型,计算出了动平台在以不同姿态运动时驱动力、球铰反力随时间的变化情况,为准确进行机构的力分析打下了基础,也为振动台性能的进一步深入研究提供了依据；
最后,文章从动力基础的基本理论出发,通过进行结构与动力计算,对单向水平地震模拟振动台基础进行了分析。地震模拟振动台基础实质上是一个给振动台面运动提供反力的质量块,它是振动台可动系统的重要组成部分,对其的研究与总结具有一定的实用性,希望能为其他类振动台基础的研究提供参考。
通过以上研究,对基于并联机构的单向地震模拟振动台的运动特性和动力特性有了具体而深入的了解,为这类振动台的应用奠定了良好的基础。
Shaking table, which is a direct method to study earthquake response and failure mechanism of structure, is one of the most important test equipment in the research of the earthquake engineering. Shaking table can simulate earthquake and perform related experiment. In this thesis, the kinematics and dynamics features of the single direction shaking table are systematically analyzed via the theoretical tools. The main contents of the study are as follows:
At first, the basic theory and the major components of the shaking table system are presented, the structure character of the parallel mechanism is considered and the number of the freedom degree is counted. Then, the geometric cross coupling is analyzed, and the forward and inverse position, velocity, acceleration, workspace are also solved. At the same time, the simulation and calculation are done by programming with MATLAB to verify the analyses.
Secondly, according to structure features of the joint, formulation of friction for the swivel is established by analyzing the comparative relation of movement between bearing and axis neck while they contact with spherical surface contact. Based on the above work, the complete dynamics model with friction considered is presented in order to compute the force acted on the actuators and the counterforce produced in the joint set caused by the motion of the platform, which will be a foundation of calculating the force of machine accurately, and also provides the basis for further research about the shaking table performance.
Finally, beginning with the analysis basic theory of dynamical foundation, the foundation of this single directional shaking table is analyzed. Foundation of shaking table is a mass that provide reaction to table movement and is an important part of the moving system. The study engineering is practical and provides reference for other shaking table construction.
Through above studies, we have had concrete and deeply knowledge to the kinematics and dynamics characteristic of the single direction shaking table based on parallel mechanism parallel mechanism, and this has made a good foundation for its application.
首先,论文论述了地震模拟振动台基本的工作原理以及主要组成,分析了该并联机构的结构特点,并计算了机构的自由度,接着进行了几何交叉耦合分析,随后对位置正反解、速度、加速度、工作空间完成了求解,同时,运用MATLAB软件编制程序进行了仿真分析计算；
其次,针对球铰的结构特征,通过分析球面接触时轴承与轴颈间的相对运动关系,计算出了存在的摩擦力与摩擦力矩,并建立了地震模拟振动台在考虑摩擦情况下的动力学模型,计算出了动平台在以不同姿态运动时驱动力、球铰反力随时间的变化情况,为准确进行机构的力分析打下了基础,也为振动台性能的进一步深入研究提供了依据；
最后,文章从动力基础的基本理论出发,通过进行结构与动力计算,对单向水平地震模拟振动台基础进行了分析。地震模拟振动台基础实质上是一个给振动台面运动提供反力的质量块,它是振动台可动系统的重要组成部分,对其的研究与总结具有一定的实用性,希望能为其他类振动台基础的研究提供参考。
通过以上研究,对基于并联机构的单向地震模拟振动台的运动特性和动力特性有了具体而深入的了解,为这类振动台的应用奠定了良好的基础。
Shaking table, which is a direct method to study earthquake response and failure mechanism of structure, is one of the most important test equipment in the research of the earthquake engineering. Shaking table can simulate earthquake and perform related experiment. In this thesis, the kinematics and dynamics features of the single direction shaking table are systematically analyzed via the theoretical tools. The main contents of the study are as follows:
At first, the basic theory and the major components of the shaking table system are presented, the structure character of the parallel mechanism is considered and the number of the freedom degree is counted. Then, the geometric cross coupling is analyzed, and the forward and inverse position, velocity, acceleration, workspace are also solved. At the same time, the simulation and calculation are done by programming with MATLAB to verify the analyses.
Secondly, according to structure features of the joint, formulation of friction for the swivel is established by analyzing the comparative relation of movement between bearing and axis neck while they contact with spherical surface contact. Based on the above work, the complete dynamics model with friction considered is presented in order to compute the force acted on the actuators and the counterforce produced in the joint set caused by the motion of the platform, which will be a foundation of calculating the force of machine accurately, and also provides the basis for further research about the shaking table performance.
Finally, beginning with the analysis basic theory of dynamical foundation, the foundation of this single directional shaking table is analyzed. Foundation of shaking table is a mass that provide reaction to table movement and is an important part of the moving system. The study engineering is practical and provides reference for other shaking table construction.
Through above studies, we have had concrete and deeply knowledge to the kinematics and dynamics characteristic of the single direction shaking table based on parallel mechanism parallel mechanism, and this has made a good foundation for its application.
引文
[1]王燕华,程文,陆飞等.地震模拟振动台的发展[J].工程抗震与加固改造,2007,29(5)：53-56.
[2]李敏霞,杨泽群,陈建秋.地震模拟振动台技术的开发与应用[J].世界地震工程,1996,2：49-54.
[3]刘伟.具有3-2-1并联结构地震模拟器的关键技术研究[D].河北工业大学硕士论文,2004.
[4]方重.模拟地震振动台的近况及其发展[J].世界地震工程,1999,15(2)：89-91.
[5]方重.六自由度大型模拟地震振动试验台[J].试验技术与试验机,1997,37(1、2)：17-19.
[6]黄浩华.地震模拟振动台的设计与应用技术[M].地震出版社,2003年第一版.
[7]沈德建,吕西林.地震模拟振动台及模型试验研究进展[J].结构工程师,2006,22(6)：55-58.
[8]韩俊伟,李玉亭,胡宝生.大型三向六自由度地震模拟振动台[J].地震学报,1998,20(3)：327-331.
[9]张绪华.6-THRT并联机器人运动学性能研究[D].南京理工大学硕士学位论文,2004.7.
[10]黄真.并联机器人机构学理论及控制[M].北京：机械工业出版社,1997,12.
[11]Stewart D A. Platform with 6-DOF Proc. on Institution of Mechanical Engineering.1965,18(1): 371-386.
[12]Merlet J P. Trajectory Verification in the Workspace for Parallel Manipulators[J]. Robot Res.1994, 13(4):326-333.
[13]Lin, W. Griffis..M. Duffy. J. Forward displacement analyses of the 4-4 Stewart Plantforms[J]. Trans ASME, J Mech Des v 114, n3,Sep,1992:444-450.
[14]C.M. Gosselin, L. Perreault,C. Vaillancourt. Simulation and Computer-Aided Kinematic Design of Three-Degree-of-Freedom Spherical Parallel Manipulators J. Of Robotic Systems,1995,12(12):857-869
[15]杨宏兵.6-SPS并联机器人运动学及工作空间的仿真研究[D].合肥工业大学硕士学位论文,2004.
[16]10陈宙能.6-PTS并联机器人运动学分析和仿真[D].南京理工大学硕士论文,2002.
[17]董彦.六自由度飞行模拟器运动平台仿真[D].南京航空航天大学硕士论文,2003.
[18]胡福生.3PTT并联机构的研究及应用初探[D].山东理工大学硕士学位论文,2006.4.
[19]戴巍.6自由度并联机器人运动学分析[D].东华大学硕士学位论文,2006.
[20]樊世超,丁文镜,陆明万.摩擦对机械臂运动的影响[J].工程力学,2002,19(2)：64-67.
[21]邓乐,熊开选.球面摩擦副磨损特性分析[J].矿山机械,1997,7：40-41.
[22]韩忠义,张向红.球面接触轴颈摩擦问题的探讨[J].机械设计与制造,2007,11：106-107.
[23]D.A.Haessing, Jr., B. Friedland. On the Modeling and Simulation of Friction[J]. Journal of Dynamics Systems, Measurement, and Control.1991,113(9):354-361.
[24]James K. Mills and Jerry G L.. Dynamic Modeling and Control of a MultiRobot System for Assembly of Flexible Payloads with Application to Automotive Body Assembly [J]. Robotic System.1996,13(12):817-836.
[25]Dasgupta B, Mruthyunjaya T S. A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator [J]. Mechanism and Machine Theory,1998,33(8):1135-1152.
[26]Dasgupta B, Mruthyunjaya T S. Close-form dynamic equations of the general Stewart platform through the Newton-Euler approach[J]. Mechanism and Machine Theory,1998,33(7):993-1012.
[27]Vukobratovie M, Potkonjak V. Dynamics of Manipulation. Robots. Bcogard:Springcr-Vcrlag, 1982:142-144.
[28]刘延柱.理论力学[M].北京：高等教育出版社,1991.
[29]康锋.考虑摩擦的游梁式抽油机动力学分析[D].西安理工大学硕士学位论文,2008.
[30]王鸿恩.机械动力学[M].重庆：重庆大学出版社,1989.
[31]方浩,周冰,演冯祖仁等.六自由度并行机器人动力学模型及仿真[J].机械科学与技术,2000,19：138-140.
[32]黄春霞,张鸿儒,隋志龙.简易单向专用地震模拟振动台的研制[J].世界地震工程,2007,23(4)：79-83.
[33]邹荣.单向水平地震模拟振动台基础设计与施工研究[D].华中科技大学硕士论文,2004.
[34]D.D.Barkan. Dynamics of Bases and Foundations. Megraw-Hill Book Co(New York),1962.
[35]Recardo Dobry and George Gazatas. Dynamic Responser of Arbitrarily Shaped Foundations. Jou.Geo.Eng,1986,112(2):92-116.
[36]中华人民共和国国家标准.动力机器基础设计规范.北京：中国建筑工业出版社(GB50040-96).
[37]Braja M.Das著.吴世明,顾尧章译.土动力学原理[M].杭州：浙江大学出版社,1984.
[38]S.普拉卡什著.徐攸在,王志良,王余庆译.土动力学[M].北京：水力电力出版社,1984.
[39]E.劳施著.武汉钢铁设计院译.机器基础[M].北京：冶金工业出版社,1982.
[40]Roy R.Craig Jr.结构动力学[M].北京：人民交通出版社,1996.
[41]第一机械工业部设计研究总院编.动力机器基础设计手册.北京：机械工业出版社,1998.
[42]张相庭,王志培.黄本才编著.结构振动力学[M].上海：同济大学出版社,1994.
[2]李敏霞,杨泽群,陈建秋.地震模拟振动台技术的开发与应用[J].世界地震工程,1996,2：49-54.
[3]刘伟.具有3-2-1并联结构地震模拟器的关键技术研究[D].河北工业大学硕士论文,2004.
[4]方重.模拟地震振动台的近况及其发展[J].世界地震工程,1999,15(2)：89-91.
[5]方重.六自由度大型模拟地震振动试验台[J].试验技术与试验机,1997,37(1、2)：17-19.
[6]黄浩华.地震模拟振动台的设计与应用技术[M].地震出版社,2003年第一版.
[7]沈德建,吕西林.地震模拟振动台及模型试验研究进展[J].结构工程师,2006,22(6)：55-58.
[8]韩俊伟,李玉亭,胡宝生.大型三向六自由度地震模拟振动台[J].地震学报,1998,20(3)：327-331.
[9]张绪华.6-THRT并联机器人运动学性能研究[D].南京理工大学硕士学位论文,2004.7.
[10]黄真.并联机器人机构学理论及控制[M].北京：机械工业出版社,1997,12.
[11]Stewart D A. Platform with 6-DOF Proc. on Institution of Mechanical Engineering.1965,18(1): 371-386.
[12]Merlet J P. Trajectory Verification in the Workspace for Parallel Manipulators[J]. Robot Res.1994, 13(4):326-333.
[13]Lin, W. Griffis..M. Duffy. J. Forward displacement analyses of the 4-4 Stewart Plantforms[J]. Trans ASME, J Mech Des v 114, n3,Sep,1992:444-450.
[14]C.M. Gosselin, L. Perreault,C. Vaillancourt. Simulation and Computer-Aided Kinematic Design of Three-Degree-of-Freedom Spherical Parallel Manipulators J. Of Robotic Systems,1995,12(12):857-869
[15]杨宏兵.6-SPS并联机器人运动学及工作空间的仿真研究[D].合肥工业大学硕士学位论文,2004.
[16]10陈宙能.6-PTS并联机器人运动学分析和仿真[D].南京理工大学硕士论文,2002.
[17]董彦.六自由度飞行模拟器运动平台仿真[D].南京航空航天大学硕士论文,2003.
[18]胡福生.3PTT并联机构的研究及应用初探[D].山东理工大学硕士学位论文,2006.4.
[19]戴巍.6自由度并联机器人运动学分析[D].东华大学硕士学位论文,2006.
[20]樊世超,丁文镜,陆明万.摩擦对机械臂运动的影响[J].工程力学,2002,19(2)：64-67.
[21]邓乐,熊开选.球面摩擦副磨损特性分析[J].矿山机械,1997,7：40-41.
[22]韩忠义,张向红.球面接触轴颈摩擦问题的探讨[J].机械设计与制造,2007,11：106-107.
[23]D.A.Haessing, Jr., B. Friedland. On the Modeling and Simulation of Friction[J]. Journal of Dynamics Systems, Measurement, and Control.1991,113(9):354-361.
[24]James K. Mills and Jerry G L.. Dynamic Modeling and Control of a MultiRobot System for Assembly of Flexible Payloads with Application to Automotive Body Assembly [J]. Robotic System.1996,13(12):817-836.
[25]Dasgupta B, Mruthyunjaya T S. A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator [J]. Mechanism and Machine Theory,1998,33(8):1135-1152.
[26]Dasgupta B, Mruthyunjaya T S. Close-form dynamic equations of the general Stewart platform through the Newton-Euler approach[J]. Mechanism and Machine Theory,1998,33(7):993-1012.
[27]Vukobratovie M, Potkonjak V. Dynamics of Manipulation. Robots. Bcogard:Springcr-Vcrlag, 1982:142-144.
[28]刘延柱.理论力学[M].北京：高等教育出版社,1991.
[29]康锋.考虑摩擦的游梁式抽油机动力学分析[D].西安理工大学硕士学位论文,2008.
[30]王鸿恩.机械动力学[M].重庆：重庆大学出版社,1989.
[31]方浩,周冰,演冯祖仁等.六自由度并行机器人动力学模型及仿真[J].机械科学与技术,2000,19：138-140.
[32]黄春霞,张鸿儒,隋志龙.简易单向专用地震模拟振动台的研制[J].世界地震工程,2007,23(4)：79-83.
[33]邹荣.单向水平地震模拟振动台基础设计与施工研究[D].华中科技大学硕士论文,2004.
[34]D.D.Barkan. Dynamics of Bases and Foundations. Megraw-Hill Book Co(New York),1962.
[35]Recardo Dobry and George Gazatas. Dynamic Responser of Arbitrarily Shaped Foundations. Jou.Geo.Eng,1986,112(2):92-116.
[36]中华人民共和国国家标准.动力机器基础设计规范.北京：中国建筑工业出版社(GB50040-96).
[37]Braja M.Das著.吴世明,顾尧章译.土动力学原理[M].杭州：浙江大学出版社,1984.
[38]S.普拉卡什著.徐攸在,王志良,王余庆译.土动力学[M].北京：水力电力出版社,1984.
[39]E.劳施著.武汉钢铁设计院译.机器基础[M].北京：冶金工业出版社,1982.
[40]Roy R.Craig Jr.结构动力学[M].北京：人民交通出版社,1996.
[41]第一机械工业部设计研究总院编.动力机器基础设计手册.北京：机械工业出版社,1998.
[42]张相庭,王志培.黄本才编著.结构振动力学[M].上海：同济大学出版社,1994.