并联机构奇异构型运动稳定性与其动力学参数

发布时间：2018-04-15 03:38

本文选题：并联机构 + 奇异构型　；参考：《机械工程学报》2017年13期

【摘要】：以3-RPR并联机构为例,研究了动平台动力学参数对并联机构奇异构型运动稳定性影响。采用Lagrange方法,建立该机构显含自身动力学参数的无乘子二次项非耦合质点系动力学解析方程,基于Lyapunov第一近似稳定性理论,将奇异构型运动稳定性问题转化为一阶线性近似系统特征根问题。研究表明:当动平台绝对速度中心落在奇异构型获得的旋转自由度回转中心临近区域内,并联机构奇异构型运动稳定性较差;增大与动平台回转方向一致的角速度值及输入参数项取值,有利于提高动平台奇异构型的运动稳定性。该研究对于利用机构动力学参数,在设计与实际控制阶段,消除并联机构奇异运动,或提高并联机构奇异构型的运动稳定性,具有积极的理论价值。
[Abstract]:Taking the 3-RPR parallel mechanism as an example, the influence of the dynamic parameters of the moving platform on the kinematic stability of the singular configuration of the parallel mechanism is studied.By using the Lagrange method, the analytical equations of the dynamics of the non-multiplier quadratic uncoupled particle system with explicit dynamic parameters are established. Based on the Lyapunov's first approximate stability theory,The stability problem of singular configuration motion is transformed into the eigenvalue problem of the first order linear approximate system.The results show that when the absolute velocity center of the moving platform falls near the center of rotational freedom obtained by the singular configuration, the kinematic stability of the singular configuration of the parallel mechanism is poor.Increasing the angular velocity and input parameter values consistent with the rotation direction of the moving platform is helpful to improve the motion stability of the singular configuration of the moving platform.This study has positive theoretical value for eliminating the singular motion of parallel mechanism or improving the kinematic stability of the singular configuration of parallel mechanism in the stage of design and practical control by using the dynamic parameters of the mechanism.
【作者单位】：中国石油大学机电学院;
【基金】：国家自然科学基金资助项目(51205409,51575530)
【分类号】：TH112

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