考虑摩擦的含S副间隙6-SPS机构动力学分析

发布时间：2018-01-16 15:03

本文关键词：考虑摩擦的含S副间隙6-SPS机构动力学分析　出处：《华中科技大学学报(自然科学版)》2017年06期 　论文类型：期刊论文

【摘要】：利用拉格朗日方程建立了理想并联机构的动力学方程,并利用连续接触模型得到了含间隙S副6-SPS并联机构的动力学方程,该机构动平台上6个运动副全部含有间隙.把动平台S副间隙简化为一个无质量连杆,其长度用随机函数表示,并在机构间隙的变化速度与机构运动速度之间建立函数关系,用机构运动速度表示机构间隙的变化速度.把动平台上6个运动副简化为一个推力轴承,研究摩擦对机构的影响,分析机构所受到的摩擦力矩.通过求解机构的动力学方程,得到机构的动力学特性曲线.结果表明:机构间隙和运动副摩擦对动力学特性都有影响,计算油膜黏性摩擦力矩时引入随机函数,使运动副球体的运动更接近真实状态.
[Abstract]:The dynamic equation of ideal parallel mechanism is established by using Lagrange equation, and the dynamic equation of 6-SPS parallel mechanism with clearance is obtained by using continuous contact model. All the six pairs of motion on the moving platform of the mechanism contain clearance. The clearance of the S-pair of the moving platform is simplified as a massless connecting rod, and its length is expressed as a random function. A functional relationship is established between the change velocity of the mechanism clearance and the mechanism motion velocity. The change speed of the mechanism clearance is expressed by the mechanism motion velocity, and the six motion pairs on the moving platform are simplified as a thrust bearing. The effect of friction on the mechanism is studied, and the friction moment is analyzed. The dynamic equation of the mechanism is solved. The dynamic characteristic curve of the mechanism is obtained. The results show that the clearance of the mechanism and the friction of the moving pair have an effect on the dynamic characteristics. The random function is introduced to calculate the viscous friction moment of the oil film. Make the motion of the parabola closer to the real state.
【作者单位】：西安邮电大学自动化学院;
【基金】：国家高技术研究发展计划资助项目(2013AA014504) 陕西省教育厅科研计划资助项目(16JK1692)
【分类号】：TH112;TP242
【正文快照】： 随着我国工业4.0规划的提出以及劳动力短缺问题的出现,并联机器人在解决上述问题以及在我国的产业升级和经济转型中将发挥越来越大的作用.而并联机构是并联机器人的核心要素,对产品创新而言,机构的创新才是最本质的创新. 随着现代工业的发展,对设备的需求逐渐向高精度、大负

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