基于三平移并联机构的三维减振平台建模与仿真

Modeling and Simulation Analysis on Multi-dimensional Damping Platform Base on Three-translation Parallel Mechanism

为实现多自由度减振,构建了以3-PUU并联机构为主体结构的三平移减振平台;分析了3-PUU并联机构运动特性,推导了杆件及动平台质心的速度表达式。采用Lagrange方程建立了系统动力学方程,根据一般粘性阻尼系统的模态分析法,推导了求解固有振型的公式;分别在X、Z方向上施加一定的瞬时冲击力,观察动平台的运动情况,并采用ADAMS软件验证系统的固有频率。结果表明,该减振系统的加速度在2s内迅速归零,具有明显的减振效果。

A three-translation vibration reduction platform is designed using a 3 - PUU parallel mechanism as main mechanisms, which is used to settle the question of multi-DOF vibration reduction. The 3 - PUU parallel mechanism is analyzed on its kinematics, and the velocity formulas of poles and moving platform is deduced. The dynamics equation is established using Lagrange method, and the formula of free frequency is deduced according to modality analysis of general viscous damp. Instantaneous wallops are applied to X, Z dimension respectively, observing the movement of the moving platform, and use ADAMS software to validate the free frequency of the system. The result shows that accelerations of the vibration reduction system return nearby zero rapidly within 2 s, which has obvious effect of vibration reduction.