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平面彈性欠驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)剛度特性分析
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國(guó)家自然科學(xué)基金資助項(xiàng)目（51375420、51305380）和河北省自然科學(xué)基金資助項(xiàng)目（E2014203176）


Stiffness Characteristics of Planar Elastic Underactuated Parallel Mechanism
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    摘要:

    根據(jù)多維運(yùn)動(dòng)模擬的需求,，提出一種包含螺旋圓彈簧(圓柱形螺旋彈簧)的欠驅(qū)動(dòng)運(yùn)動(dòng)模擬臺(tái),。利用螺旋圓彈簧的軸向和橫向剛度約束運(yùn)動(dòng)模擬臺(tái)的工作空間,，通過兩個(gè)驅(qū)動(dòng)分支和動(dòng)力耦合實(shí)現(xiàn)其3個(gè)自由度的運(yùn)動(dòng),。將螺旋圓彈簧等效為Re/Pe/Re彈性運(yùn)動(dòng)支鏈,，進(jìn)而將并聯(lián)運(yùn)動(dòng)模擬臺(tái)等效為2RPR/2RePeRe彈性欠驅(qū)動(dòng)機(jī)構(gòu),，并利用Grassmann線幾何分析該機(jī)構(gòu)的輸入選取原則,。基于旋量及其遷移公式,，建立等效機(jī)構(gòu)的運(yùn)動(dòng)學(xué)模型,。借助于影響系數(shù)和虛功原理,，對(duì)該彈性欠驅(qū)動(dòng)機(jī)構(gòu)進(jìn)行靜力學(xué)分析，得到其靜力學(xué)約束方程,。最后,，建立了該機(jī)構(gòu)的連續(xù)非線性柔度模型，并以此為基礎(chǔ)得到其方向剛度模型,。

    Abstract:

    According to the demand of multi-dimensional motion simulation, a class of planar underactuated simulator with cylindrical helical springs was put forward. The workspace of the proposed simulator was restricted by the axial and lateral stiffness of cylindrical helical spring, and 3-DOF of the proposed simulator was driven by only two drive limbs and dynamic coupling effects. The cylindrical helical springs could be seen as an elastic limb Re/Pe/Re, so the simulator can be transformed to an elastic underactuated mechanism, 2RPR/2Re/Pe/Re. The input selection of equivalent mechanism was analyzed by using Grassmann geometry. Based on screws, the kinematics of equivalent mechanism was given. The kinematics can be represented to any frame easily by using the shifting property of the screws. Referring to the influence coefficient and virtual work principles, the statics analysis was performed, and the statics constraint equation was gotten. Finally, the continuous nonlinear compliance model of the mechanism was established, and based on this, the direction stiffness was given.

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耿明超,趙鐵石,楊建濤,邊輝,趙延治.平面彈性欠驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)剛度特性分析[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2015,46(5):365-371. Geng Mingchao, Zhao Tieshi, Yang Jiantao, Bian Hui, Zhao Yanzhi. Stiffness Characteristics of Planar Elastic Underactuated Parallel Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2015,46(5):365-371.

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  • 收稿日期:2014-08-21
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  • 在線發(fā)布日期: 2015-05-10
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