[1]陈 谱,沈惠平,邓嘉鸣,等.一种低耦合度非完全对称2T1R并联机构的运动分析与刚度建模[J].常州大学学报(自然科学版),2021,33(02):52-61.[doi:10.3969/j.issn.2095-0411.2021.02.007]
　CHEN Pu,SHEN Huiping,DENG Jiaming,et al.Kinematic Analysis and Stiffness Modeling of a Low Coupling Asymmetric 2T1R Parallel Mechanism[J].Journal of Changzhou University(Natural Science Edition),2021,33(02):52-61.[doi:10.3969/j.issn.2095-0411.2021.02.007]
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一种低耦合度非完全对称2T1R并联机构的运动分析与刚度建模()
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常州大学学报(自然科学版)[ISSN:2095-0411/CN:32-1822/N]

卷:
第33卷
期数:
2021年02期
页码:
52-61
栏目:
机械制造及其自动化
出版日期:
2021-03-28

文章信息/Info

Title:
Kinematic Analysis and Stiffness Modeling of a Low Coupling Asymmetric 2T1R Parallel Mechanism
文章编号:
2095-0411(2021)02-0052-10
作者:
陈 谱1;  沈惠平1;  邓嘉鸣1;  吴广磊2
(1. 常州大学 机械与轨道交通学院,江苏 常州 213164; 2. 大连理工大学 机械工程学院,辽宁 大连116024)
Author(s):
CHEN Pu1;  SHEN Huiping1;  DENG Jiaming1;  WU Guanglei2
(1.School of Mechanical Engineering and Rail Transit,Changzhou University,Changzhou 213164,China; 2. School of Mechanical Engineering, Dalian University of Technology, Dalian 116024,China)
关键词:
拓扑设计;  方位特征集(POC);  刚度矩阵;  虚拟弹簧法
Keywords:
topology design;  POC;  stiffness matrix;  virtual spring method
分类号:
TH 112
DOI:
10.3969/j.issn.2095-0411.2021.02.007
文献标志码:
A
摘要:
基于方位特征(POC)的并联机构设计理论, 提出了一种低耦合度非完全对称的2T1R并联机构。首先根据序单开链法的机构运动学建模原理, 分别给出该机构位置正反解的求解算法, 并通过数值算例验证了其正确性; 其次针对该机构的刚度特性问题,基于虚拟弹簧法建立了该并联机构的刚度模型; 最后分析了该机构刚度矩阵中扭转刚度和线性刚度的变化趋势,得出该机构的刚度在工作空间内变化较为平稳,能承受较大载荷,为该机构的动力学分析及样机设计提供了理论基础。
Abstract:
Based on the design theory of POC parallel mechanism, a low coupling degree and incomplete symmetry 2T1R parallel mechanism is proposed.Firstly, according to the modeling principle of kinematic of the mechanism based on ordered SOC, the solution algorithm of the forward and inverse position of this parallel mechanism are derived, and an numerical example is provided to confirm the correctness of the solution procedure.Secondly aiming at the stiffiness characteristics of the parallel mechanism,the stiffness model of the parallel mechanism is established based on the virtual spring method. Finally, the change trend of torsional stiffness and linear stiffness in cartesian stiffness matrix were analyzed. The results show that the stiffness of the mechanism changes smoothly in the working space and can bear large load. This work provides a theoretical basis for the dynamic analysis and prototype design of the PM.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2020-10-16。
基金项目:国家自然科学基金资助项目(51975062,51375062)。
作者简介:陈谱(1995—), 男, 江苏徐州人, 硕士生。通信联系人: 沈惠平(1965—), E-mail: shp65@126.com
引用本文:陈谱, 沈惠平, 邓嘉鸣, 等. 一种低耦合度非完全对称2T1R并联机构的运动分析与刚度建模[J]. 常州大学学报(自然科学版), 2021, 33(2): 52-61.
更新日期/Last Update: 1900-01-01