类Exechon并联模块弹性静力学建模与分析
发布时间：2018-07-20 21:22
【摘要】：针对Exechon并联模块动平台摆角范围较小的问题,提出了一种拓扑构型为2RPU1RPS的类Exechon并联模块.在前期完成的概念设计基础上,对类Exechon并联模块进行了自由度计算及运动学逆解分析.采用子结构综合法,建立了计及关节弹性变形和支链体柔性的类Exechon并联模块弹性静力学模型.依托所建模型,计算了该类并联模块极限位姿下动平台的弹性位移和关节约束反力(力矩),并进一步给出了两者在工作空间内的映射.研究表明,模块自重对类Exechon并联模块动平台的弹性位移和关节约束反力(力矩)具有重要影响,其静力学特性在工作空间内随位姿变化明显,且在沿z向的工作截面上呈对称性映射.
[Abstract]:Aiming at the small range of swing angle of Exechon parallel module, a kind of Exechon-like parallel module with 2RPU1RPS topology is proposed. Based on the previous conceptual design, the degree of freedom (DOF) calculation and kinematics inverse solution analysis of Exechon-like parallel module are carried out. Based on the substructure synthesis method, an Exechon-like elastic statics model for parallel modules is established, which takes into account the elastic deformation of joints and the flexibility of branched chains. Based on the established model, the elastic displacement and the joint constrained reaction force (torque) of the moving platform under the limit position and attitude of the parallel module are calculated, and the mapping of the two in the workspace is given. The results show that the weight of the module has an important effect on the elastic displacement and the joint constrained reaction (torque) of the Exechon-like parallel moving-platform, and its static characteristics change obviously with the position and pose in the workspace. And it is symmetric mapping on the working cross section along z direction.
【作者单位】： 安徽工业大学机械工程学院;福州大学机械工程及自动化学院;
【基金】：国家自然科学基金(51375013) “机械制造系统工程”国家重点实验室(西安交大)开放基金(sklms2015004)资助
【分类号】：TH112
，
本文编号：2134821
[Abstract]:Aiming at the small range of swing angle of Exechon parallel module, a kind of Exechon-like parallel module with 2RPU1RPS topology is proposed. Based on the previous conceptual design, the degree of freedom (DOF) calculation and kinematics inverse solution analysis of Exechon-like parallel module are carried out. Based on the substructure synthesis method, an Exechon-like elastic statics model for parallel modules is established, which takes into account the elastic deformation of joints and the flexibility of branched chains. Based on the established model, the elastic displacement and the joint constrained reaction force (torque) of the moving platform under the limit position and attitude of the parallel module are calculated, and the mapping of the two in the workspace is given. The results show that the weight of the module has an important effect on the elastic displacement and the joint constrained reaction (torque) of the Exechon-like parallel moving-platform, and its static characteristics change obviously with the position and pose in the workspace. And it is symmetric mapping on the working cross section along z direction.
【作者单位】： 安徽工业大学机械工程学院;福州大学机械工程及自动化学院;
【基金】：国家自然科学基金(51375013) “机械制造系统工程”国家重点实验室(西安交大)开放基金(sklms2015004)资助
【分类号】：TH112
，
本文编号：2134821
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