摘要
以2UPS-RPU并联机构为研究对象,首先利用有限元理论建立柔性杆件的空间梁单元动力学方程,再结合各支链约束条件,运用弹性动力学理论和Lagrange方程,推导出2UPS-RPU并联机构的弹性动力学方程,结合动力学仿真软件ADAMS和有限元软件ANSYS各自的优点,通过模态中性文件和载荷谱数据的传递,首次建立了2UPS-RPU并联机构的刚柔耦合体模型,并对该模型进行了动力学仿真研究,分别对比刚性体模型和刚柔耦合体模型的仿真结果。结果表明,刚柔耦合体模型的仿真结果更加真实、准确地反映了机构的动态性能,提高了仿真精度,也验证了CAE软件仿真方法的快速简洁性和有效性。
2UPS-RPU parallel mechanism was taken as the research object to establish the kinetic equation of space beam element for flexible rods by the finite element theory, combined with the constraints of the branched-chain, elasticitydynamics theory and Lagrange equations. Then, the elastic dynamic equations of the mechanism were derived. By data transmission of modal neutral file and load spectrum, the rigid-flexible coupling-body model of 2UPS-RPU parallel mechanism combined ADAMS with ANSYS was built to simulate on dynamics.The simulation results of rigid-body model and flexible coupling-body model are compared with each other, show that the dynamic performance of flexible coupling-body model conforms to actual situations, and improve the simulation accuracy, verify the simulation method of CAE to be rapid,simple and effective.
出处
《机械设计》
CSCD
北大核心
2015年第3期77-81,共5页
Journal of Machine Design
基金
天津市自然科学基金资助项目(11JCYBJC05600)
