基于刚柔结合的并联机构研究

The research of parallel-mechanisms based on combination of rigid-flexible

并联机构的静刚度大、动力响应迅速等优点,使其在金属切削机床、工业自动化、医疗设备等领域具有广泛的应用前景;然而,并联机构在运动学、动力学等方面上的复杂特性使它在实际应用遇到许多困难。从传统并联机构的性能出发,结合并联柔索机构的特点,提出了一种基于刚柔结合的并联机构的新构型。对基于刚柔结合的并联机构进行构型设计,在此基础上,对影响机构精度的主要因素和误差问题进行分析。基于刚柔结合的并联机构在保持机构原有特点的基础上,提高了机构的精度和动力学性能,并有效的抑制了机构在运动过程中的振动问题,为机构的应用奠定了良好的基础。

The parallel mechanism which is famous of the advantages of high stiffness,the heavy loader,quick response has wide potential application in metal-cutting machine tools,industry automation and medical instrument fields.However,the complex kinematics and dynamics of parallel mechanism make it very hard to use parallel mechanism in practical application.one new type of parallel mechanism on the base of rigid-flexible combination is bring up,configuration,kinematics,dynamics,vibration and simulation problems are studied in-depth.Based on the design of its combination,the research of precision、plane＇s forward kinematics.The above study proves that the parallel mechanisms based on combination of rigid-flexible improved accuracy of the agency while maintaining the original characteristics of the institution,and suppressed the vibration question effectively,settled good foundation for application of the organization.