[1]胡波,王安东,李周斌,等.一种基于新型4-UPS+PSPR并联机构的动感座椅运动学和动力学分析[J].燕山大学学报,2018,42(1):011-21.[doi:10.3969/j.issn.1007-791X.2018.01.002]
 HU Bo,WANG Andong,LI Zhoubin,et al. Analysis of kinematics and dynamics of a dynamic seat based on 4-UPS+PSPR parallel manipulator[J].Journal of YanShan University,2018,42(1):011-21.[doi:10.3969/j.issn.1007-791X.2018.01.002]
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一种基于新型4-UPS+PSPR并联机构的动感座椅运动学和动力学分析
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《燕山大学学报》[ISSN:1007-791X/CN:13-1219/N]

卷:
42
期数:
2018年第1期
页码:
011-21
栏目:
机械工程
出版日期:
2018-01-31

文章信息/Info

Title:
 Analysis of kinematics and dynamics of a dynamic seat based on 4-UPS+PSPR parallel manipulator
文章编号:
1007-791X(2018)01-0011-011
作者:
胡波12*王安东12李周斌12高俊林12施东升12张凯超12
1.燕山大学 河北省并联机器人与机电系统实验室,河北 秦皇岛 066004;2.燕山大学 先进锻压成型技术与科学教育部重点实验室,河北 秦皇岛 066004
Author(s):
HU Bo 12WANG Andong 12LI Zhoubin 12GAO Junlin 12SHI Dongsheng 12ZHANG Kaichao 12
1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University,Qinhuangdao, Hebei 066004, China; 2. Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei 066004, China
关键词:
动感座椅并联机构运动学动力学工作空间
Keywords:
dynamic seat parallel manipulator kinematics dynamics workspace
分类号:
TH112
DOI:
10.3969/j.issn.1007-791X.2018.01.002
文献标志码:
A
摘要:
提出了一种基于新型6自由度4-UPS+PSPR并联机构的动感座椅,该动感座椅由4条UPS型分支和一条PSPR型分支组成,通过将UPS型驱动分支布置在动感座椅的上、下侧,有效提高了动感座椅的转动能力。首先,介绍了动感座椅的构型特点,结合该动感座椅机构分支的闭环矢量方程,得到了机构的运动学反解,求解了动感座椅的速度和加速度,得到了动感座椅的Jacabian矩阵和Hessian矩阵,并采用逐次逼近法求解了该座椅机构的位置正解。其次,考虑了动感座椅各构件的重力和惯性力,采用虚功原理建立了动感座椅的动力学方程。再次,采用边界法求解了4-UPS+PSPR动感座椅的可达工作空间和姿态工作空间。最后,利用MATLAB软件计算了动感座椅的运动学和动力学,并在Simulimk环境下对动感座椅的运动学和动力学进行了仿真,仿真算例表明理论结果完全正确。本文中4-UPS+PSPR型动感座椅的分析方法同样适合于其他并联动感设备。
Abstract:
A novel 6 DOF dynamic seat based on the 4-UPS+PSPR parallel manipulator (PM) is proposed.The dynamic seat includes four UPS type limbs and a PSPR type limb.The rotation capacity of the proposed dynamic seat is effectively improved by arranging four UPS type limbs on both sides of the moving platform.First,the structure of the manipulator is described.Based on the closed loop vectors of the limbs,the inverse kinematics is derived.A successive approximation algorithm is used to solve the forward position.Second,the velocity and acceleration of the dynamic seat are analyzed,the Jacobian and Hessian matrices are obtained.Considering the inertial force and the gravity force,the dynamics model of the dynamic seat is established.Third,using the boundary method,the position and orientation workspaces of the dynamic seat are obtained.Finally,the kinematic model and dynamic model of dynamic seat are computed via MATLAB software and Simulink.The simulation results testify the validity of the analytic model.The analytic method for this 4-UPS+PSPR dynamic seat is also fit for other dynamic equipments.

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备注/Memo

备注/Memo:
收稿日期:2017-07-01   责任编辑:温茂森
基金项目:[HT6SS]河北省杰出青年基金资助项目(E2017203094);河北省首批青年拔尖人才资助项目;燕山大学“新锐工程”人才支持计划项目;河北省人社厅“三三三人才工程”培养项目(A2016002016)
作者简介:*胡波(1982-),男,湖北襄阳人,博士,副教授,主要研究方向为机器人机构学,Email:hubo@ysu.edu.cn
更新日期/Last Update: 2018-04-23