[1]朱伟,耿林,许兆棠,等.3DOF弹性并联机构逆向运动和力学特性分析[J].常州大学学报(自然科学版),2016,(05):54-59.[doi:10.3969/j.issn.2095-0411.2016.05.009]
　ZHU Wei,GENG Lin,XU Zhaotang,et al.Analysis on Inverse Kinemics and Mechanical Properties of a Three DOF Flexible Parallel Mechanism[J].Journal of Changzhou University(Natural Science Edition),2016,(05):54-59.[doi:10.3969/j.issn.2095-0411.2016.05.009]
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3DOF弹性并联机构逆向运动和力学特性分析()
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常州大学学报(自然科学版)[ISSN:2095-0411/CN:32-1822/N]

卷:
期数:
2016年05期
页码:
54-59
栏目:
机械制造及其自动化
出版日期:
2016-09-30

文章信息/Info

Title:
Analysis on Inverse Kinemics and Mechanical Properties of a Three DOF Flexible Parallel Mechanism
作者:
朱伟1; 2; 耿林1; 许兆棠2; 沈惠平1; 刘晓飞1
1.常州大学 机械工程学院,江苏 常州 213016; 2.江苏省数字化制造技术重点实验室,江苏 淮阴 223003
Author(s):
ZHU Wei1; 2; GENG Lin1; XU Zhaotang2; SHEN Huiping1; LIU Xiaofei1
1.School of Mechanical Engineering,Changzhou University,Changzhou 213016,China; 2.Jiangsu Digital Manufacture Technology Main Laboratory, Huaiyin 223003,China
关键词:
并联机构;  逆向运动;  力学逆解;  弹性机构
Keywords:
parallel mechanism;  inverse motion;  inverse solution of force;  flexible mechanism
分类号:
TH 242
DOI:
10.3969/j.issn.2095-0411.2016.05.009
文献标志码:
A
摘要:
由于机构运动过程中构件存在弹性形变,导致机构末端执行器姿态难以保证正确姿态。以3UPS/PU并联机构为例设计一种3DOF弹性被动运动机构,采用闭合矢量法求出机构的运动逆解和速度方程。将机构的平台和支链拆开,构建各构件的力和力矩静平衡方程,得到对应的27组方程,解出所有构件的约束力和约束力偶,并通过MATLAB仿真得到各条弹性支链的约束反力和力矩随动平台位姿变化而变化的曲线,为进一步研究弹性被动运动机构的逆向运动提供理论参考。
Abstract:
Because of the elastic deformation of the member in the process of mechanism movement, it is difficult to guarantee the attitude of the end effector.In this paper, the 3UPS/PU parallel mechanism is used as an example to design a kind of 3DOF elastic passive motion mechanism, and the closed vector method is used to derive the inverse kinematics solution and the velocity equation of the mechanism. By disassembling the platform and branched chain of the mechanism to 27 groups dynamical equations were built, from which the corresponding solutions about forces and moments of all components were obtained. And through the MATLAB simulation, we get the curves of the constraint reaction force and torque with the change of the position and attitude of the elastic chain, which provides a theoretical reference for the reverse motion analysis of the elastic passive motion mechanism.

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备注/Memo

备注/Memo:
收稿日期:2015-03-30。基金项目:国家自然科学基金(51375062); 江苏省自然科学基金(BK20161192); 常州市应用基础计划项目(CJ2012008); 江苏省数字化制造技术重点实验室开放课题(HJDML-1001)。作者简介:朱伟(1976—),男,江苏泰州人,博士,副教授。
更新日期/Last Update: 2016-10-10