一种新型张拉整体并联机构刚度及动力学分析

doi:10.13229/j.cnki.jdxbgxb20170879

摘要/Abstract

摘要：

为了提高精密机械手的操作柔顺性,提出了一种四棱柱型六自由度张拉整体并联机构模型,由4条刚性驱动支链、2条绳索驱动支链和2条弹簧支链组成。建立了机构的运动学模型,推导了机构动平台角速度、角加速度与欧拉角之间的转化关系;根据螺旋理论建立了机构的静态平衡方程,从而进一步推导出机构的刚度矩阵表达式,并得到矩阵数值解;运用虚功原理建立了机构的伪刚体动力学方程。最后,对机构的速度、加速度、动力学方程进行数值计算、仿真,验证了上述数学模型的正确性,为该机构动力学特性的深入分析和控制策略的研究提供了理论参考。

关键词: 机械设计及理论, 张拉整体, 并联机构, 静态分析, 刚度矩阵, 动力学

Abstract:

The tensegrity mechanism is a new type of rigid-flexible spatial model, with advantages of light weight, easy-folded, extended flexibility and high precision. In order to improve the compliance of precise manipulators during normal operation, a model for tensegrity parallel mechanism in six DOF was proposed, which was built in quadrilateral prism type. The proposed model was mainly composed of four rigid drive branched chains, two rope drive links and two branched springs. The kinematics equation of the mechanism was established by closed vector method, and the relation between the angular velocity, the angular acceleration and the Euler angle during platform moving was deduced. According to the screw theory, the static equilibrium equation and the stiffness matrix of the mechanism were derived to solve out the numerical values. After that, the pseudo-rigid-body dynamics pattern of the mechanism was set up by the principle of virtual work. Finally, the velocity, acceleration and dynamic equations of the mechanism were numerically calculated. Based on the calculated values, simulations were conducted in MATLAB to verify the above mathematical solutions. This research provides theoretical references for the further studies on dynamics characteristics and control strategies of this mechanism.

Key words: mechanical design and theory, tensegrity, parallel mechanism, static analysis, stiffness matrix, dynamics

中图分类号:

TH112

朱伟,王传伟,顾开荣,沈惠平,许可,汪源. 一种新型张拉整体并联机构刚度及动力学分析[J]. 吉林大学学报(工学版), 2018, 48(6): 1777-1786.

ZHU Wei,WANG Chuan-wei,GU Kai-rong,SHEN Hui-ping,XU Ke,WANG Yuan. Stiffness and dynamics analysis of a new type of tensegrity parallel mechanism[J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1777-1786.

图/表 9

图1

图2

图3

表1

机构参数"

参数	数值	参数	数值
p/m	0.5	$l s 2$ /m	0.6
b/m	0.75	l₁/m	0.3
m/kg	2	l₂/m	0.3
m₁/kg	0.4	k₁/(N·m^-1)	300
m₂/kg	0.5	k₂/(N·m^-1)	200
$l s 1$ /m	0.3

表1

图4

图5

图6

图7

图8

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