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平面柔性并聯(lián)機(jī)構(gòu)彈性動(dòng)力學(xué)研究
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-dynamics of Planar Flexile Parallel Mechanism
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    摘要:

    以設(shè)計(jì)適于高速運(yùn)行的平面3自由度并聯(lián)機(jī)構(gòu)為目標(biāo)，對(duì)機(jī)構(gòu)的正向運(yùn)動(dòng)學(xué)進(jìn)行了全面研究，得到了機(jī)構(gòu)速度及加速度特性,。在給定主動(dòng)件的運(yùn)動(dòng)以后，求得了機(jī)構(gòu)的所有位置正解構(gòu)型,，根據(jù)運(yùn)動(dòng)連續(xù)性的條件，規(guī)劃出動(dòng)平臺(tái)的最佳運(yùn)動(dòng)軌跡,，揭示了機(jī)構(gòu)的速度和加速度特性。將機(jī)構(gòu)劃分成桿單元和平面三角形單元,，建立了機(jī)構(gòu)的有限元模型,。結(jié)合運(yùn)動(dòng)學(xué)分析，使動(dòng)平臺(tái)沿著預(yù)先規(guī)劃的軌跡運(yùn)動(dòng),，分析了機(jī)構(gòu)的模態(tài)頻率和主振型隨機(jī)構(gòu)位姿的變化情況,。研究機(jī)構(gòu)在主動(dòng)力和慣性力激勵(lì)下的動(dòng)態(tài)響應(yīng)，得到機(jī)構(gòu)彈性位移誤差和動(dòng)應(yīng)力的變化規(guī)律,，從而對(duì)機(jī)構(gòu)的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)性能進(jìn)行了綜合評(píng)估,。

    Abstract:

    In order to design the high-speed planar 3-DOF parallel mechanism, the direct kinematics was studied comprehensively. Velocity and acceleration characteristics of mechanism were gained. With the driving parts movement, all the forward position configurations were obtained. According to the continuity conditions of movement, the optimal trajectory of moving platform was planned. The velocity and acceleration characteristics of mechanism were implied. The mechanism was divided into stroke unit and plane triangle unit. The finite element model of the mechanism was established. By combining kinematics, the moving platform was moving along the planning track, the modal frequency and main vibration mode of the mechanism with the change of mechanism position and posture were analyzed. Variation law of elastic displacement error and the dynamic stress of mechanism was obtained by researching the dynamic response of mechanism in drive force and inertial force excitation. Therefore, the kinematics and the dynamic performance of mechanism were assessed comprehensively. 

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魯開(kāi)講,師俊平,高秀蘭,淡卜綢.平面柔性并聯(lián)機(jī)構(gòu)彈性動(dòng)力學(xué)研究[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2010,41(6):208-215.-dynamics of Planar Flexile Parallel Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(6):208-215.

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