2-UPR-SPR并联机构的刚度与谐响应分析

发布时间：2018-04-26 23:18

本文选题：非对称 + 并联机构　；参考：《包装工程》2017年09期

【摘要】：目的针对一种两转一移三自由度封装并联机构2-RPU-SPR自动化包装过程中高工作精度的特殊应用要求,运用有限元法对其进行刚度与谐响应分析,从而研究机构的刚度和抗振性能。方法运用Solid Works建立三维实体模型,然后导入Ansys Workbench软件进行分析。结果得到机构在外力作用下3种不同姿态的位移变形云图,并通过模态分析,得知2-RPU-SPR并联机构1—6阶固有频率分别为130.39,133.42,218.35,760.36,768.07,776.96 Hz,以及各阶频率下的振型。在此基础上进行谐响应分析,得出动平台在x,y,z轴方向的位移响应曲线。结论找出了机构刚度的薄弱部位,得出了刚度随位姿变化的规律;通过谐响应分析验证了该并联机构的抗振性能,得出机构应避免的敏感频率,这为该封装并联机构的进一步动态设计与优化奠定了基础。
[Abstract]:Aiming at the special application requirements of high working precision in the process of 2-RPU-SPR automatic packaging of two turn three degree of freedom package parallel mechanism, the stiffness and harmonic response of the mechanism are analyzed by the finite element method, so as to study the stiffness and anti vibration performance of the mechanism. Method using Solid Works to establish a three-dimensional solid model and then import Ansys Workb The ench software is used to analyze the displacement and deformation of 3 different attitudes under external force, and through modal analysis, it is found that the natural frequency of the 1 - 6 order of the parallel mechanism of the 2-RPU-SPR parallel mechanism is 130.39133.42218.35760.36768.07776.96 Hz and the vibration modes at each order frequency respectively. The displacement response curve of the platform in the direction of X, y and Z axis. Conclusion the weak parts of the stiffness of the mechanism are found and the regularity of the stiffness with the change of position is obtained. Through the harmonic response analysis, the anti vibration performance of the parallel mechanism is verified and the sensitive frequency of the mechanism should be avoided, which lays the foundation for the further dynamic design and optimization of the package parallel mechanism. Foundation.

【作者单位】：中北大学;
【基金】：国家自然科学基金(51275486)
【分类号】：TB486

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