[1]李家宇,孟庆梅,邓嘉鸣,等.一种非完全对称新型Delta-CU并联机构的动力学分析[J].常州大学学报(自然科学版),2019,31(05):77-86.[doi:10.3969/j.issn.2095-0411.2019.05.012]
　LI Jiayu,MENG Qingmei,DENG Jiaming,et al.Dynamic Analysis of a Not-Fully- Symmetrical New Delta-CU Parallel Mechanism[J].Journal of Changzhou University(Natural Science Edition),2019,31(05):77-86.[doi:10.3969/j.issn.2095-0411.2019.05.012]
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一种非完全对称新型Delta-CU并联机构的动力学分析()
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常州大学学报(自然科学版)[ISSN:2095-0411/CN:32-1822/N]

卷:
第31卷
期数:
2019年05期
页码:
77-86
栏目:
机械制造及其自动化
出版日期:
2019-09-28

文章信息/Info

Title:
Dynamic Analysis of a Not-Fully- Symmetrical New Delta-CU Parallel Mechanism
文章编号:
2095-0411(2019)05-0077-10
作者:
李家宇; 孟庆梅; 邓嘉鸣; 沈惠平
(常州大学 现代机构学研究中心,江苏 常州 213164)
Author(s):
LI Jiayu;  MENG Qingmei;  DENG Jiaming;  SHEN Huiping
(School of Mechanical Engineering, Changzhou University, Changzhou 213164, China)
关键词:
达朗贝尔定理;  虚功原理;  动力学方程;  并联机构
Keywords:
D ’Alembert theorem;  the principle of virtual work;  dynamic mode;  parallel mechanisms
分类号:
TH 112
DOI:
10.3969/j.issn.2095-0411.2019.05.012
文献标志码:
A
摘要:
针对作者提出的一种非完全对称新型三平移Delta-CU并联机构的刚体动力学性能问题,基于虚功原理建立了该并联机构的动力学模型。首先求解出主动臂、从动臂和动平台的速度与加速度; 其次基于达朗贝尔定理,建立主动臂、从动臂及动平台的静力平衡方程,计算出机构运动副中的约束反力; 利用虚功原理建立Delta-CU机构的动力学模型并对机构进行模态分析,得到不同振型下机构的固有频率; 最后,通过算例对动力学模型进行数值计算,并与ADAMS 虚拟仿真结果对比,验证了所建动力学模型的可行性和正确性。
Abstract:
In view of the dynamic performance of a new type of three translational parallel mechanisms Delta-CU, the dynamic model of parallel mechanism Delta-CU was built based on the principle of virtual work. First, the velocity and acceleration of the driving arm, the driven arm and the moving platform were calculated. Secondly, the static equilibrium equation of the driving arm, the driven arm and the moving platform were established based on the Darren Bell theorem, which could calculate the constraint force of the kinematic pair. Then, the dynamics model of the mechanism was established based the principle of virtual work and modal analysis of the mechanism was carried out to get the natural frequency of different modes of vibration. Finally, a numerical example was given to illustrate the feasibility and correctness of the established dynamic model by comparing with the virtual simulation results from ADAMS.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2019-02-24。
基金项目:国家自然科学基金资助项目(51375062,514755050); 江苏省重点研发计划项目(BE2015043)。
作者简介:李家宇(1991—),男,江苏连云港人,硕士生。通信联系人:沈惠平(1965—),E-mail:shp65@126.com
更新日期/Last Update: 2019-09-30