摘要
针对Exechon并联模块动平台摆角范围较小的问题,提出了一种拓扑构型为2RPU&1RPS的类Exechon并联模块.在前期完成的概念设计基础上,对类Exechon并联模块进行了自由度计算及运动学逆解分析.采用子结构综合法,建立了计及关节弹性变形和支链体柔性的类Exechon并联模块弹性静力学模型.依托所建模型,计算了该类并联模块极限位姿下动平台的弹性位移和关节约束反力(力矩),并进一步给出了两者在工作空间内的映射.研究表明,模块自重对类Exechon并联模块动平台的弹性位移和关节约束反力(力矩)具有重要影响,其静力学特性在工作空间内随位姿变化明显,且在沿z向的工作截面上呈对称性映射.
A novel Exe-variant PKM with a topological arrangement of 2RPU&1RPS was proposed by the authors to achieve a better platform rotational ability over the Exechon parallel kinematic machine (PKM). After introducing the concept design, the mobility analysis and inverse kinematics of the proposed Exe va- riant PKM are conducted. With the substructure synthesis techniques, a kinetostatic model that includes joint deflections and limb flexibilites is developed to investigate the kinetostatic characteristics of the Exevariant PKM. The platform's elastic displacements and joint reaction forces/moments of the Exe-variant PKM at the extreme position are analyzed. Furthermore, their mappings over any work plane are evaluated throughout the entire workspace. The results reveal that the gravity-caused elastic displacements of the platform and joint force/moment reactions are noticeable. The mappings of platform's elastic displacements and joint forces/moments reactions in the entire workspace are position-dependant and demonstrate a symmetry over any given work plane.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2017年第8期992-999,共8页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金(51375013)
"机械制造系统工程"国家重点实验室(西安交大)开放基金(sklms2015004)资助