球面并联机构功耗比评价指标及性能分析

Evaluation Index and Performance Analysis of Power Consumption Ratio of Spherical Parallel Mechanisms

运动过程中能耗传递效率较低是制约仿生机构应用于实际的主要问题之一。提出功耗比性能评价指标,并以两种三自由度球面并联机构——3PSS/S并联机构和3RRR并联机构为研究对象,建立其功耗比数学模型。设定运动姿态角范围,分别计算两并联机构理论功耗比,并绘制曲线图比较其功耗传递性能。开展3PSS/S并联机构功耗比实验,绘制实验功耗比曲线,并与理论分析所得曲线进行对比,以验证功耗比性能指标的合理性和实用性。

It was one of main problems for the practical applications of bionic mechanisms with low transfer efficiency of energy in the moving processes.The performance evaluation index of the power consumption ratio was put forward herein.Two kinds of 3-DOF spherical parallel mechanisms,3 PSS/S parallel mechanism and 3 RRR parallel mechanism,were taken as the research objects,and their mathematical models of power consumption ratio were established.In the ranges of given attitude angles,the theoretical power consumption ratios of the two parallel mechanisms were calculated respectively.The power consumption ratio curves of the two parallel mechanisms were plotted in order to compare the energy transfer performance.Meanwhile,the power consumption ratio experiments of3 PSS/S parallel mechanism were carried out,and the experimental power consumption ratio curves of the experiments were plotted.The comparison between the theoretical numerical analysis and the experimental results was analyzed,which validate the rationality and practicability of the power consumption ratio performance index.