摘要
利用柔性并联机构的动力学模型,定性地分析了动平台质量、转动惯量对柔性并联机构的动态响应、动态应力及固有频率的影响。以动平台惯性参数边界条件、运动误差、固有频率、动态应力、驱动力矩等限制条件作为约束方程,将机构总质量函数和弹性变形能函数采用线性加权组合成多目标函数,进行多目标优化设计,确定了动平台的最佳惯性参数。通过对平面3-RRR柔性并联机构算例的分析和讨论,说明了动平台惯性参数在柔性并联机构的动力学分析和设计中的重要作用。
The effects of the inertia parameters of moving platform on the dynamic response, dynamic stress and natural frequency of flexible parallel mechanisms were studied. The mechanism total mass function is combined with elastic deformation energy function by using linear weighted method to derive the multiple objective function, and the boundary condition of inertia parameters, motion errors, natural frequency, dynamic stresses and driving moments are considered as constraint equations to perform the optimal design. The optimal inertia parameters of moving platform are determined based on the optimal design. The effects of the inertia parameters are well illustrated through the numerical simulation of a planar 3-RRR parallel mechanism. The inertia parameters of moving platform are demonstrated to have significant impact on the dynamic response, dynamic stress and natural frequency of flexible parallel mechanisms, and they should be important parameters for the analysis and design of the flexible parallel mechanisms.
出处
《光学精密工程》
EI
CAS
CSCD
北大核心
2006年第6期1009-1016,共8页
Optics and Precision Engineering
基金
国家自然科学基金资助项目(No.50575002)
北京市自然科学基金资助项目(No.3062004)
关键词
动平台
惯性参数
动态响应
固有频率
动态应力
优化设计
moving platform, inertia parameter
dynamic response
natural frequency
dynamics tress
optimal design
