[1]郭金伟,许允斗,刘文兰,等.冗余驱动过约束并联机构受力分析[J].燕山大学学报,2018,42(3):199-205.[doi:10.3969/j.issn.1007-791X.2018.03.002]
 GUO Jinwei,XU Yundou,LIU Wenlan,et al.Force analysis of redundantly actuated overconstrained parallel mechanism[J].Journal of YanShan University,2018,42(3):199-205.[doi:10.3969/j.issn.1007-791X.2018.03.002]
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冗余驱动过约束并联机构受力分析
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《燕山大学学报》[ISSN:1007-791X/CN:13-1219/N]

卷:
42
期数:
2018年第3期
页码:
199-205
栏目:
机械工程
出版日期:
2018-05-31

文章信息/Info

Title:
Force analysis of redundantly actuated overconstrained parallel mechanism
文章编号:
1007-791X(2018)03-0199-07
作者:
郭金伟1许允斗12刘文兰1姚建涛12赵永生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):
 GUO Jinwei1XU Yundou12LIU Wenlan1YAO Jiantao12ZHAO Yongsheng12
1. Laboratory of Parallel Robot and Mechatronic System of Hebei Province, Yanshan University,Qinhuangdao,Hebei 066004,China;
2. Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University), Ministry of Education of China,Qinhuangdao,Hebei 066004,China
关键词:
冗余驱动被动过约束并联机构驱动力分配过约束力螺旋耦合
Keywords:
redundant actuationpassive overconstraintsparallel mechanismdriving force distributionoverconstrained force screwcoupling
分类号:
TH112
DOI:
10.3969/j.issn.1007-791X.2018.03.002
文献标志码:
A
摘要:
含有驱动冗余的过约束并联机构具有承载能力大、各向同性良好等特点,但其同时含有主动过约束和被动过约束,受力分析相当复杂。本文以4-PRRR冗余驱动过约束并联机构为对象对该类机构受力的超静定问题进行研究。首先针对主动过约束问题,基于特定的优化目标求解出各驱动力大小。然后针对被动过约束问题,建立各分支过约束力螺旋系的刚度矩阵和机构整体刚度矩阵,分析驱动力在过约束力螺旋系轴线方向产生的耦合变形,采用加权广义逆方法求解得到过约束力螺旋系幅值。联合SolidWorks、ANSYS和ADAMS软件建立机构的刚柔混合模型并进行受力仿真分析,仿真结果与理论值基本一致,验证了理论分析结果的合理性。
Abstract:
The overconstrained parallel mechanism with actuation redundancy has the characteristics of high bearing capacity and good isotropy, but it contains both active and passive overconstraints, so the force analysis is rather complicated. In this paper, we study the statically indeterminate problem of 4-PRRR redundantly actuated overconstrained parallel mechanism. For the problem of active overconstraints, the size of each driving force is solved based on the specific optimization goal. Aiming at the problem of passive overconstraints, the stiffness matrix of overconstrained force screw system of each branch and the stiffness matrix of the whole system are established, and the coupling deformation produced by the driving force in the direction of the axis of overconstrained force screw system are analyzed. The generalized inverse of weighted Moore-Penrose method is used to obtain the amplitude of the overconstrained force screw system. Combined with SolidWorks, ANSYS and ADAMS software, the rigid flexible model of the mechanism is established and the force simulation analysis is carried out. The simulation results are consistent with the theoretical values, which verify the rationality of the theoretical analysis results.

备注/Memo

备注/Memo:
 收稿日期:2017-04-29      责任编辑:温茂森
基金项目:国家自然科学基金资助项目(51675458);河北省自然科学基金重点资助项目(E2017203335);河北省教育厅高等学校科技计划青年拔尖人才资助项目(BJ2017060)
作者简介:郭金伟(1991-),女,河北秦皇岛人,硕士研究生,主要研究方向为过约束并联机构的受力分析;*通信作者:赵永生(1962-),男,吉林龙井人,博士,教授,博士生导师,主要研究方向为并联机构学理论及其应用技术,Email:yszhao@ysu.edu.cn
更新日期/Last Update: 2018-07-13