3-TPT并联机器人静力学研究与仿真

Statics analysis and simulation of 3-TPT parallel robot

以3-TPT并联机床为研究对象,研究该机床在承受静态外力负载时静力学问题。首先根据静力平衡原理建立静力学逆解方程,推导静力矩逆解方程,然后进行实际校核,最后对机床的运动平台静力学特性进行仿真。研究结果表明:运动平台所受的切削力不超过3个杆所受驱动力最大值的2倍,输出过程中不存在突变;运动平台所受的外力矩不超过平行机构内力矩的1.5倍,输出过程中沿Z方向存在突变,此时机床会发生轻微振动。文中研究为并联机床结构优化设计和动力学研究提供理论依据。

The objective of the study was the 3-TPT parallel machine tool. This paper studied the machine under static load static force. According to the principle of static balance, an inverse solution equations of statics was established firstly. Then,the inverse solution equations of static moment were derived. The static characteristics of the parallel machine tool was simulated. and the actual verification was performed finally. From the results, the cutting force of the motion platform was less than two times of the driving force of rod. There was no output in the process of mutation,torque of sports platform is less than 1.5 times of the parallel mechanism internal moment. There was a mutation along the Z direction,the machine would have a slight vibration. This could provide a theoretical basis for the study of structure optimization design and dynamic parallel machine tool.