[1]邓嘉鸣,佟 祯,秦 娴,等.面向平面划线的二自由度并联机构动力学分析[J].常州大学学报(自然科学版),2016,(01):83-87.[doi:10.3969/j.issn.2095-0411.2016.01.016]
　DENG Jiaming,TONG Zhen,QIN Xian,et al.Dynamic Analysis of Parallel Mechanisms with Two-DOF on the Plane Scraper[J].Journal of Changzhou University(Natural Science Edition),2016,(01):83-87.[doi:10.3969/j.issn.2095-0411.2016.01.016]
点击复制

面向平面划线的二自由度并联机构动力学分析()
分享到：

常州大学学报(自然科学版)[ISSN:2095-0411/CN:32-1822/N]

卷:
期数:
2016年01期
页码:
83-87
栏目:
出版日期:
2016-01-28

文章信息/Info

Title:
Dynamic Analysis of Parallel Mechanisms with Two-DOF on the Plane Scraper
文章编号:
2095-0411(2015)01-0083-05
作者:
邓嘉鸣; 佟 祯; 秦 娴; 蒋永健
常州大学 机械工程学院,江苏 常州 213164
Author(s):
DENG Jiaming;  TONG Zhen;  QIN Xian;  JIANG Yongjian
School of Mechanical Engineering, Changzhou university, Changzhou 213164,China
关键词:
划线机;  并联机构;  动力学分析;  拉格朗日方程
Keywords:
scraper;  parallel mechanism;  kinematics analysis;  Lagrange equation
分类号:
TH 112
DOI:
10.3969/j.issn.2095-0411.2016.01.016
文献标志码:
A
摘要:
针对传统手工划线精度差、工效低、劳动强度大等缺点,提出了一种简单实用用于平面划线执行机构的二自由度并联机构,采用拉格朗日法建立了机构的动力学模型,推导了机构动力学方程; 以工业排风扇叶片划线为应用背景,拟合了叶片得边界曲线方程,并运用Matlab软件仿真得出机构末端执行点(划线头)作叶片轨迹运动时机构动力学变化规律; 得出该二自由度并联机构动力学性能较好,同时由于机构自由度少、结构简单、易于控制等特点,因而适合于曲率半径较大的曲线或者直线形状零件的划线作业。
Abstract:
In view of the drawbacks existing in traditional manual scribing such as poor accuracy, low efficiency, large labor intensity, etc. A 2-DOF parallel mechanism is proposed to be used in the actuator for plane scraper. Based on the Lagrange equation, the dynamic equation of the mechanism is derived. Some curve equations were fitted based on industrial exhaust fan blade scribing. The dynamics is established that the terminal operating point finished this curve track by using Matlab. It is concluded that the 2-DOF parallel mechanism has good dynamic performance, and because of its less degree of freedom, simple structure and easy control, it is suitable for marking assignments that have curve with large radius or parts with straight shape.

参考文献/References:

[1]徐鹏云.三坐标划线机控制系统设计[D].保定:河北农业大学,2009.
[2]熊建国.工业机器人的应用和发展趋势[J].才智,2009(1):166.
[3]李艳.二自由度冗余驱动并联机器人的动力学建模及控制研究[D].济南:山东大学,2010.
[4]杨义勇,金德闻.机械系统动力学[M].北京:清华大学出版社,2009:8-34.
[5]蒋永健,邓嘉鸣,秦娴.面向工业风机叶片划线的2DOF并联机构运动特性分析[J].常州大学学报(自然科学版),2014,26(3):28-32.
[6] SHEN H P,YANG T L, MA L ZH.Synthesis and structure analysis of kinematic structures of 6-dof parallel robotic mechanisms[J].Mechanism and Machine Theory, 2005,40:1167-1180.

相似文献/References:

[1]蒋永健,邓嘉鸣,秦 娴.面向工业风机叶片划线的2DOF并联机构运动特性分析[J].常州大学学报(自然科学版),2014,(03):28.[doi:10.3969/j.issn.2095-0411.2014.03.006]
　JIANG Yong-jian,DENG Jia-ming,QIN Xian.Kinematics Analysis of 2DOF Parallel MechanismsBased on Industrial Fan Blades' Scribing[J].Journal of Changzhou University(Natural Science Edition),2014,(01):28.[doi:10.3969/j.issn.2095-0411.2014.03.006]
[2]黄 涛,沈惠平,余同柱,等.5-3型6-SPS并联机构位置分析的正逆解析解[J].常州大学学报(自然科学版),2013,(02):72.[doi:10.3969/j.issn.2095-0411.2013.02.018]
　HUANG Tao,SHEN Hui ping,YU Tong zhu,et al.Analytical Solutions to the Forward and Inverse Positions of 5-3 Type 6-SPS Parallel Mechanism[J].Journal of Changzhou University(Natural Science Edition),2013,(01):72.[doi:10.3969/j.issn.2095-0411.2013.02.018]
[3]朱帅帅,沈惠平,王 振,等.4-3型六自由度并联机构的位置正逆解分析[J].常州大学学报(自然科学版),2013,(04):32.[doi:10.3969/j.issn.2095-0411.2013.04.006]
　ZHU Shuai shuai,SHEN Hui ping,WANG Zhen,et al.Forward and Inverse Kinematics Solution for 4-3 Type 6 DOF Parallel Mechanism[J].Journal of Changzhou University(Natural Science Edition),2013,(01):32.[doi:10.3969/j.issn.2095-0411.2013.04.006]
[4]李寒冰,朱 伟,沈惠平,等.一种并联式太阳追踪机构设计与参数优化[J].常州大学学报(自然科学版),2019,31(01):41.[doi:10.3969/j.issn.2095-0411.2019.01.007]
　LI Hanbing,ZHU Wei,SHEN Huiping,et al.Design and Parameter Optimization of A Parallel Solar Tracking Mechanism[J].Journal of Changzhou University(Natural Science Edition),2019,31(01):41.[doi:10.3969/j.issn.2095-0411.2019.01.007]
[5]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.[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(01):77.[doi:10.3969/j.issn.2095-0411.2019.05.012]

备注/Memo

备注/Memo:
基金项目:国家自然科学基金项目资助(51075045)。
作者简介:邓嘉鸣(1963—),男,江苏常州人,硕士,副教授,主要从事机械设计、并联运动机械研究。
更新日期/Last Update: 2016-01-28