新型4-UPS-UPU并联坐标测量机刚柔耦合动力学性态

Dynamic behaviors of rigid-flexible coupling for novel 4-UPS-UPU parallel coordinate measuring machine

介绍了一种新型4-UPS-UPU五自由度并联坐标测量机机构,该测量机机构定平台通过4个结构完全相同的驱动分支UPS(虎克铰-移动副-球副)以及另一个驱动分支UPU(虎克铰-移动副-虎克铰)与动平台相连接。协同利用CAD、CAE和可视化虚拟样机技术,完成对4-UPS-UPU并联坐标测量机的刚柔耦合动力学性态研究。在SolidWorks中建立该测量机三维实体模型,在ANSYS中对测量机实体模型中的驱动杆件进行柔性化处理,最终在ADAMS中建立了测量机刚柔耦合虚拟样机。对该测量机运动输出响应、驱动杆动应力和固有频率等动力学性态进行了仿真分析。仿真结果表明:驱动杆件的弹性变形对测量机的动力学性能具有重要影响,该刚柔耦合虚拟样机能正确地反映测量机的动力学性态。

A new 4-UPS-UPU five-degree of freedom Parallel Coordinate Measuring Machine （PCMM） is proposed. The stationary platform of PCMM is connected with the moving platform by four identical Universal-joints Prismatic-pairs Spherical-joints （UPS） driving links and one Universal-joints Prismatic-pairs Universal-joints （UPU） link. Integrating CAD, CAE and visual technologies, the dynamic behaviors of the rigid-flexible PCMM was investigated. The three- dimension model of PCMM was built in SolidWorks. The modal neutral file of the flexible body of driving limbs was generated in ANSYS. Then the rigid-flexible virtual prototyping of 4-UPS- UPU PCMM was built in ADAMS. Based on the rigid-flexible model, the dynamic behaviors, including kinematics output response, dynamic stress of driving limbs and natural frequency were simulated. Simulation results show that the flexibility of the driving limbs significantly impacts the system dynamics, the proposed rigid-flexible model can reflect the dynamic behaviors of PCMM.