[1]侯雨雷,赵刘见,齐晓凤,等.一种含间隙的柔性并联机构动力学仿真[J].燕山大学学报,2019,43(6):485-496.[doi:10.3969/j.issn.1007-791X.2019.06.003]
 HOU Yulei,ZHAO Liujian,QI Xiaofeng,et al.Dynamic simulation of flexible parallel mechanism by considering clearance[J].Journal of YanShan University,2019,43(6):485-496.[doi:10.3969/j.issn.1007-791X.2019.06.003]
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一种含间隙的柔性并联机构动力学仿真
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《燕山大学学报》[ISSN:1007-791X/CN:13-1219/N]

卷:
43
期数:
2019年第6期
页码:
485-496
栏目:
机械工程
出版日期:
2019-11-30

文章信息/Info

Title:
Dynamic simulation of flexible parallel mechanism by considering clearance
文章编号:
1007-791X(2019)06-0485-12
作者:
侯雨雷12赵刘见1齐晓凤1曾达幸12*
1.燕山大学 机械工程学院,河北 秦皇岛 066004;2.河北省重型智能制造装备技术创新中心,河北 秦皇岛 066004
Author(s):
HOU Yulei12ZHAO Liujian1QI Xiaofeng1ZENG Daxing12
1.School of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China;
2.Heavy-duty Intelligent Manufacturing Equipment Innovation Center of Hebei Province, Qinhuangdao,Hebei 066004,China
关键词:
间隙柔性并联机构动力学偏差
Keywords:
clearanceflexibilityparallel mechanismdynamicsdeviation
分类号:
TH113.2
DOI:
10.3969/j.issn.1007-791X.2019.06.003
文献标志码:
A
摘要:
运动副间隙和杆件柔性关乎机构动态特性及精度。以3-RSR并联式天线机构为研究对象,基于ADAMS软件建立其含间隙动力学模型,并考虑杆件柔性进行含间隙并联机构动力学仿真与偏差分析。通过对比分析仅考虑转动副间隙时不同间隙尺寸大小、单间隙、双间隙与三间隙下的仿真变化曲线,以及仅考虑杆件柔性时仿真变化曲线,分别获得转动副间隙与杆件柔性对机构偏差的影响规律,进一步分析得到不同杆件材料下综合考虑转动副间隙和杆件柔性对机构偏差的影响规律,以分析对并联式天线机构运动性能和稳定性的影响。研究工作对综合考虑运动副间隙和杆件柔性时并联式天线机构动态特性的研究及其设计具有一定的指导意义。
Abstract:
Kinematic clearance and flexible pole are related to the dynamic characteristics and the accuracy of the mechanism. In the light of a 3-RSR (revolute joint-spherical joint-revolute joint) type parallel antenna mechanism a dynamic model with clearance is constructed using ADAMS software. A dynamic simulation and a deviation analysis of the parallel mechanism with clearance are carried out by considering the flexible pole. By comparing and analyzing the simulation variation curves under different clearance sizes, single clearance, double clearance and triple clearance when only considering the rotating joint clearances, and the simulation variation curve when only considering the flexible pole, the influence law of the rotating joint clearances and the flexible pole on the mechanism deviation are obtained respectively. The influence law of the rotating joint clearance and the flexible pole on the mechanism deviation under the different pole materials are further studied to analysis of the effect on the kinematics and the stability of the parallel antenna mechanism. The research work provides a base for the study of dynamic characteristics of the parallel antenna mechanism with the rotating joint clearances and the flexible pole and its design.

相似文献/References:

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 SHEN Li-min,LI Zhi-wei.Study on service-oriented flexible integration model of heterogeneous data[J].Journal of YanShan University,2013,(6):117.[doi:10.3969/j.issn.1007-791X.2013.02.005]
[2]杜国君,高亚南,高崇一.含间隙四自由度系统混沌动力学分析[J].燕山大学学报,2013,(3):245.[doi:10.3969/j.issn.1007-791X.2013.03.011]
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备注/Memo

备注/Memo:
收稿日期:2018-08-27        责任编辑:温茂森
基金项目:国家重点研发计划资助项目(2018YFB1307900);国家自然科学基金资助项目(51775473);河北省自然科学基金资助项目(E2018203140);河北省军民融合产业发展专项资金项目(2018B120);河北省高等学校科学技术研究重点项目(ZD2019020);河北省科学技术研究与发展计划科技支撑计划项目(18241905D) 
作者简介:侯雨雷(1980-),男,河北定州人,博士,教授,博士生导师,主要研究方向为并联机构及其动力学、机器人技术;*通信作者:曾达幸(1978-),男,湖南娄底人,博士,教授,博士生导师,主要研究方向为并联机器人机构学、机械装备构型与机电集成技术,Email:roboms@ysu.edu.cn
更新日期/Last Update: 2020-01-03