一种并联动力头静柔度精确预估方法与灵敏度分析
发布时间：2019-04-20 09:39
【摘要】：以一种1T2R,3自由度并联动力头——A3头为对象,研究其静柔度半解析精细建模与预估方法。该方法在建立系统静柔度模型的基础上,将支链体分解为若干子部件,建立这些子部件在各自局部坐标系中定义的柔度系数与界面柔度系数的映射模型,提出一种采用分层递阶格式精确计算出各零部件柔度系数的策略,进而有效地提高了整机全域静柔度预估的效率与精度。在试验验证该方法正确性的基础上,采用灵敏度分析揭示出各部件弹性对动平台参考点柔度的影响。结果表明,移动副沿约束方向的抗弯刚度及球铰链沿驱动(约束)的抗拉压(弯曲)刚度是影响整机刚度的主要薄弱环节,进而为该类装备的改进与优化设计提供了依据。
[Abstract]:The static flexibility semi-analytical precision modeling and prediction method of a 1T2R, 3-DOF and linkage force head, A3 head, is studied in this paper. Based on the static flexibility model of the system, the chain body is decomposed into several sub-components, and the mapping models of the flexibility coefficient and the interface flexibility coefficient defined by these sub-components in the local coordinate system are established. This paper presents a strategy to calculate the flexibility coefficients of parts and components accurately by using hierarchical scheme, which effectively improves the efficiency and accuracy of the global static flexibility prediction of the whole machine. On the basis of the correctness of the proposed method, the sensitivity analysis is used to reveal the influence of the elasticity of each component on the flexibility of the reference point of the moving platform. The results show that the bending stiffness of the moving joint along the constrained direction and the tensile (bending) stiffness of the ball hinge along the drive (constraint) are the main weak links affecting the stiffness of the whole machine, thus providing the basis for the improvement and optimal design of this kind of equipment.
【作者单位】： 天津大学机构理论与装备设计教育部重点实验室;
【基金】：国家自然科学基金资助项目(51135008)
【分类号】：TH112
本文编号：2461492
[Abstract]:The static flexibility semi-analytical precision modeling and prediction method of a 1T2R, 3-DOF and linkage force head, A3 head, is studied in this paper. Based on the static flexibility model of the system, the chain body is decomposed into several sub-components, and the mapping models of the flexibility coefficient and the interface flexibility coefficient defined by these sub-components in the local coordinate system are established. This paper presents a strategy to calculate the flexibility coefficients of parts and components accurately by using hierarchical scheme, which effectively improves the efficiency and accuracy of the global static flexibility prediction of the whole machine. On the basis of the correctness of the proposed method, the sensitivity analysis is used to reveal the influence of the elasticity of each component on the flexibility of the reference point of the moving platform. The results show that the bending stiffness of the moving joint along the constrained direction and the tensile (bending) stiffness of the ball hinge along the drive (constraint) are the main weak links affecting the stiffness of the whole machine, thus providing the basis for the improvement and optimal design of this kind of equipment.
【作者单位】： 天津大学机构理论与装备设计教育部重点实验室;
【基金】：国家自然科学基金资助项目(51135008)
【分类号】：TH112
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