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当前位置: 首页 > 文章 > 平面柔性并联机构弹性动力学研究 农业机械学报 2010,41 (6) 214-221
Position: Home > Articles > Elastic-dynamics of Planar Flexile Parallel Mechanism Transactions of the Chinese Society for Agricultural Machinery 2010,41 (6) 214-221

平面柔性并联机构弹性动力学研究

作  者：
鲁开讲;师俊平;高秀兰;淡卜绸
单  位：
西安理工大学机械与精密仪器工程学院;宝鸡文理学院机电工程系
关键词：
并联机构;运动学;有限元模型;动力学性能
摘  要：
以设计适于高速运行的平面3自由度并联机构为目标,对机构的正向运动学进行了全面研究,得到了机构速度及加速度特性。在给定主动件的运动以后,求得了机构的所有位置正解构型,根据运动连续性的条件,规划出动平台的最佳运动轨迹,揭示了机构的速度和加速度特性。将机构划分成杆单元和平面三角形单元,建立了机构的有限元模型。结合运动学分析,使动平台沿着预先规划的轨迹运动,分析了机构的模态频率和主振型随机构位姿的变化情况。研究机构在主动力和惯性力激励下的动态响应,得到机构弹性位移误差和动应力的变化规律,从而对机构的运动学和动力学性能进行了综合评估。
译  名：
Elastic-dynamics of Planar Flexile Parallel Mechanism
作  者：
Lu Kaijiang1,2 Shi Junping1 Gao Xiulan2 Dan Bochou2(1.School of Mechanical and Instrumental Engineering,Xi'an University of Technology,Xi'an 710048,China 2.Mechanical and Electrical Engineering Department,Baoji University of Arts and Sciences,Baoji 721007,China)
关键词：
Parallel mechanism,Kinematics,Finite element model,Dynamic performance
摘  要：
In order to design the high-speed planar 3-DOF parallel mechanism,the direct kinematics was studied comprehensively.Velocity and acceleration characteristics of mechanism were gained.With the driving parts' movement,all the forward position configurations were obtained.According to the continuity conditions of movement,the optimal trajectory of moving platform was planned.The velocity and acceleration characteristics of mechanism were implied.The mechanism was divided into stroke unit and plane triangle unit.The finite element model of the mechanism was established.By combining kinematics,the moving platform was moving along the planning track,the modal frequency and main vibration mode of the mechanism with the change of mechanism' position and posture were analyzed.Variation law of elastic displacement error and the dynamic stress of mechanism was obtained by researching the dynamic response of mechanism in drive force and inertial force excitation.Therefore,the kinematics and the dynamic performance of mechanism were assessed comprehensively.

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