驱动冗余重型并联机构的动力学性能

发布时间：2017-12-31 07:24

本文关键词：驱动冗余重型并联机构的动力学性能　出处：《吉林大学学报(工学版)》2017年04期 　论文类型：期刊论文

【摘要】：针对重型并联机构构型不足的问题,提出了一种适合重载加工的2自由度龙门式驱动冗余并联机构。首先,在运动学分析的基础上,利用虚功原理建立了系统的动力学模型。其次,以动力学模型中驱动力的范数最小为目标,对驱动力进行优化,并给出了一种加速度性能评价指标。最后,基于驱动力优化方法以及加速性能评价指标分析比较了在相同运动条件下该冗余重型并联机构与其对应的非冗余并联机构的动力学性能。本文研究结果对其他重型关联机构的构型设计以及加速度评价具有重要的参考价值。
[Abstract]:The heavy parallel mechanism problems, put forward a kind of suitable for heavy processing of 2 degrees of freedom Longmen drive redundant parallel mechanism. Firstly, on the basis of kinematics analysis, established the dynamic model of the system by using the principle of virtual work. Secondly, the dynamics model of the driving force of the minimum norm as the goal of driving force optimization, and gives an acceleration performance evaluation index. Finally, the dynamic performance analysis of acceleration performance evaluation index were compared in the non redundant parallel mechanism with the same movement under the condition of the redundant parallel mechanism and its corresponding heavy driving force optimization method and based on the results of this study have important reference value for other heavy affiliates configuration the design and evaluation of acceleration.

【作者单位】：长春理工大学机电工程学院;长春理工大学精密制造及检测技术国家地方联合工程实验室;吉林大学机械科学与工程学院;
【基金】：吉林省科技创新人才培育计划青年科研基金项目(20160520067JH)
【分类号】：TH112
【正文快照】： 0引言并联机构具有刚度高、惯量小、动态特性好等优点,在高速、大承载场合,与串联机构相比具有明显优势。因此,并联机构得到了广泛的关注,出现了各种多自由度和少自由度并联机构构型,一些并联机构成功应用于飞行模拟器、数控机床、喷涂机器人等领域[1,2]。特别是Delta并联机器

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