基于并联机构液压支架运动学及静力学研究

Statics and Kinematics Analysis of Hydraulic Support Based on Parallel Mechanism

研究一种两转一移(2R1T)三自由度并联机构3-SPR,该并联机构围绕定系的原点做转动,具有良好的运动性能和力学性能,该机构替代传统液压支架。煤面随采煤机过后发生形变,普通液压支架上平台受力不均匀或者受力方向有所改变,液压支架一定程度上受到损坏,并联机构则可以应变这些缺点,在x轴和y轴方向上对动平台进行力补偿,支架的驱动杆为二力杆,对机构底座和运动副不会产生附加弯曲应力,该机构运动是对称的,机构的后面2个分支形成面不会存在弯曲运动,解决原有机构原理性缺陷,依据3个软件联合仿真结果,并联机构比传统液压支架力补偿更充分,并具有很好的应用前景。

A 2R1T Parallel mechanism （PM） that can perform one translational degree of freedom （DOF） and two rotational DOFs was analyzed. The proposed mechanism has two rotational continuous axes, which are the Y-axis fixed on the fixed platform and x-axis fixed on the moving platform. The PM has come instead of the traditional hydraulic support. The coal mine is located above the platform, the force of the traditional hydraulic support is uneven, and the direction changes momentarily. Because the face is deformed by the moving of the coal mining machine, the hydraulic support is damaged. These shortcomings can be solved by the PM. The force compensations of the platform prevent from deforming in the Y-axis and x-axis directions. The driving rods of the hydraulic support are two-force bars, which don’t generate additional bending stress in the kinematic pairs and the fixed platform, and solve the principle deficiency in the structure. The motion of the PM is symmetrical. The force compensation of the PM is more sufficient than the traditional hydraulic support in the results, which are analyzed by the Adams and ANSYS software, and the parallel mechanism has good prospect.