類Exechon并聯(lián)模塊彈性靜力學建模與分析
發(fā)布時間：2018-07-20 21:22
【摘要】：針對Exechon并聯(lián)模塊動平臺擺角范圍較小的問題,提出了一種拓撲構型為2RPU1RPS的類Exechon并聯(lián)模塊.在前期完成的概念設計基礎上,對類Exechon并聯(lián)模塊進行了自由度計算及運動學逆解分析.采用子結構綜合法,建立了計及關節(jié)彈性變形和支鏈體柔性的類Exechon并聯(lián)模塊彈性靜力學模型.依托所建模型,計算了該類并聯(lián)模塊極限位姿下動平臺的彈性位移和關節(jié)約束反力(力矩),并進一步給出了兩者在工作空間內(nèi)的映射.研究表明,模塊自重對類Exechon并聯(lián)模塊動平臺的彈性位移和關節(jié)約束反力(力矩)具有重要影響,其靜力學特性在工作空間內(nèi)隨位姿變化明顯,且在沿z向的工作截面上呈對稱性映射.
[Abstract]:Aiming at the small range of swing angle of Exechon parallel module, a kind of Exechon-like parallel module with 2RPU1RPS topology is proposed. Based on the previous conceptual design, the degree of freedom (DOF) calculation and kinematics inverse solution analysis of Exechon-like parallel module are carried out. Based on the substructure synthesis method, an Exechon-like elastic statics model for parallel modules is established, which takes into account the elastic deformation of joints and the flexibility of branched chains. Based on the established model, the elastic displacement and the joint constrained reaction force (torque) of the moving platform under the limit position and attitude of the parallel module are calculated, and the mapping of the two in the workspace is given. The results show that the weight of the module has an important effect on the elastic displacement and the joint constrained reaction (torque) of the Exechon-like parallel moving-platform, and its static characteristics change obviously with the position and pose in the workspace. And it is symmetric mapping on the working cross section along z direction.
【作者單位】： 安徽工業(yè)大學機械工程學院;福州大學機械工程及自動化學院;
【基金】：國家自然科學基金(51375013) “機械制造系統(tǒng)工程”國家重點實驗室(西安交大)開放基金(sklms2015004)資助
【分類號】：TH112
，
本文編號：2134821
[Abstract]:Aiming at the small range of swing angle of Exechon parallel module, a kind of Exechon-like parallel module with 2RPU1RPS topology is proposed. Based on the previous conceptual design, the degree of freedom (DOF) calculation and kinematics inverse solution analysis of Exechon-like parallel module are carried out. Based on the substructure synthesis method, an Exechon-like elastic statics model for parallel modules is established, which takes into account the elastic deformation of joints and the flexibility of branched chains. Based on the established model, the elastic displacement and the joint constrained reaction force (torque) of the moving platform under the limit position and attitude of the parallel module are calculated, and the mapping of the two in the workspace is given. The results show that the weight of the module has an important effect on the elastic displacement and the joint constrained reaction (torque) of the Exechon-like parallel moving-platform, and its static characteristics change obviously with the position and pose in the workspace. And it is symmetric mapping on the working cross section along z direction.
【作者單位】： 安徽工業(yè)大學機械工程學院;福州大學機械工程及自動化學院;
【基金】：國家自然科學基金(51375013) “機械制造系統(tǒng)工程”國家重點實驗室(西安交大)開放基金(sklms2015004)資助
【分類號】：TH112
，
本文編號：2134821
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