基于含等效球铰的3-RPS自调平升降机静力学研究

发布时间：2018-01-21 08:12

本文关键词： 升降机自调平 -RPS 等效球铰静力学　出处：《燕山大学学报》2017年03期 　论文类型：期刊论文

【摘要】：为了解决折叠臂升降机在坡度稍大路面上难以正常工作的问题,通过并联机构和串联机构的组合,并考虑球副转角范围的要求,提出了基于含等效球铰的3-RPS并联机构自调平升降机设计方案;为了能正确分析该结构强度和刚度,通过建立动平台与支链、折叠臂之间的静力平衡方程和静力雅克比矩阵,推导出了升降机的完整静力学模型,并着重研究了其中含等效球铰的3-RPS并联机构静力学模型,通过算例1对比传统3-RPS并联机构的静力学模型验证了含等效球铰的3-RPS并联机构静力学模型的正确性,通过算例2确定了油缸径向力的影响因素并得到了减小径向力的解决方法;该研究为含等效球铰的其他并联机构静力学研究提供了理论基础。
[Abstract]:In order to solve the problem that it is difficult for the folding arm lift to work normally on the road with a slightly larger slope, through the combination of the parallel mechanism and the series mechanism, the requirements of the angle range of the ball pair are considered. The design scheme of self-leveling lift of 3-RPS parallel mechanism based on equivalent spherical hinge is proposed. In order to correctly analyze the strength and stiffness of the structure, the complete statics model of the lift is derived by establishing the static equilibrium equation and the static Jacobian matrix between the moving platform and the branched chain and the folding arm. The statics model of 3-RPS parallel mechanism with equivalent spherical hinge is studied emphatically. The static model of 3-RPS parallel mechanism with equivalent spherical hinge is verified by the statics model of 3-RPS parallel mechanism. The influence factors of the radial force of the cylinder are determined by example 2, and the solution to reduce the radial force is obtained. This study provides a theoretical basis for the statics study of other parallel mechanisms with equivalent spherical hinges.
【作者单位】：山东理工大学机械工程学院;
【基金】：山东省自然科学基金资助项目(ZR2014EEM046)
【分类号】：TH211.6
【正文快照】： 0引言自调平系统通过调节支撑结构的长度使支撑平面保持水平,提高被支撑机构的工作效率。自调平技术也逐渐被人关注,王超[1]对三点支撑的快速调平做了研究,姜伟伟[2]研制了一种具有三条支腿的大型光电设备的自动调平系统,朱城伟[3]提出了一种以4-SPS(PS)并联机构作为自动调平

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