【摘要】：以一種1T2R,3自由度并聯(lián)動(dòng)力頭——A3頭為對(duì)象,研究其靜柔度半解析精細(xì)建模與預(yù)估方法。該方法在建立系統(tǒng)靜柔度模型的基礎(chǔ)上,將支鏈體分解為若干子部件,建立這些子部件在各自局部坐標(biāo)系中定義的柔度系數(shù)與界面柔度系數(shù)的映射模型,提出一種采用分層遞階格式精確計(jì)算出各零部件柔度系數(shù)的策略,進(jìn)而有效地提高了整機(jī)全域靜柔度預(yù)估的效率與精度。在試驗(yàn)驗(yàn)證該方法正確性的基礎(chǔ)上,采用靈敏度分析揭示出各部件彈性對(duì)動(dòng)平臺(tái)參考點(diǎn)柔度的影響。結(jié)果表明,移動(dòng)副沿約束方向的抗彎剛度及球鉸鏈沿驅(qū)動(dòng)(約束)的抗拉壓(彎曲)剛度是影響整機(jī)剛度的主要薄弱環(huán)節(jié),進(jìn)而為該類裝備的改進(jìn)與優(yōu)化設(shè)計(jì)提供了依據(jù)。
[Abstract]:The static flexibility semi-analytical precision modeling and prediction method of a 1T2R, 3-DOF and linkage force head, A3 head, is studied in this paper. Based on the static flexibility model of the system, the chain body is decomposed into several sub-components, and the mapping models of the flexibility coefficient and the interface flexibility coefficient defined by these sub-components in the local coordinate system are established. This paper presents a strategy to calculate the flexibility coefficients of parts and components accurately by using hierarchical scheme, which effectively improves the efficiency and accuracy of the global static flexibility prediction of the whole machine. On the basis of the correctness of the proposed method, the sensitivity analysis is used to reveal the influence of the elasticity of each component on the flexibility of the reference point of the moving platform. The results show that the bending stiffness of the moving joint along the constrained direction and the tensile (bending) stiffness of the ball hinge along the drive (constraint) are the main weak links affecting the stiffness of the whole machine, thus providing the basis for the improvement and optimal design of this kind of equipment.
【作者單位】： 天津大學(xué)機(jī)構(gòu)理論與裝備設(shè)計(jì)教育部重點(diǎn)實(shí)驗(yàn)室;
【基金】：國(guó)家自然科學(xué)基金資助項(xiàng)目(51135008)
【分類號(hào)】：TH112

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