一种含间隙的柔性并联机构动力学仿真

Dynamic simulation of flexible parallel mechanism by considering clearance

运动副间隙和杆件柔性关乎机构动态特性及精度。以3-RSR并联式天线机构为研究对象,基于ADAMS软件建立其含间隙动力学模型,并考虑杆件柔性进行含间隙并联机构动力学仿真与偏差分析。通过对比分析仅考虑转动副间隙时不同间隙尺寸大小、单间隙、双间隙与三间隙下的仿真变化曲线,以及仅考虑杆件柔性时仿真变化曲线,分别获得转动副间隙与杆件柔性对机构偏差的影响规律,进一步分析得到不同杆件材料下综合考虑转动副间隙和杆件柔性对机构偏差的影响规律,以分析对并联式天线机构运动性能和稳定性的影响。研究工作对综合考虑运动副间隙和杆件柔性时并联式天线机构动态特性的研究及其设计具有一定的指导意义。

Kinematic clearance and flexible pole are related to the dynamic characteristics and the accuracy of the mechanism.In the light of a 3-RSR(revolute joint-spherical joint-revolute joint)type parallel antenna mechanism a dynamic model with clearance is constructed using ADAMS software.A dynamic simulation and a deviation analysis of the parallel mechanism with clearance are carried out by considering the flexible pole.By comparing and analyzing the simulation variation curves under different clearance sizes,single clearance,double clearance and triple clearance when only considering the rotating joint clearances,and the simulation variation curve when only considering the flexible pole,the influence law of the rotating joint clearances and the flexible pole on the mechanism deviation are obtained respectively.The influence law of the rotating joint clearance and the flexible pole on the mechanism deviation under the different pole materials are further studied to analysis of the effect on the kinematics and the stability of the parallel antenna mechanism.The research work provides a base for the study of dynamic characteristics of the parallel antenna mechanism with the rotating joint clearances and the flexible pole and its design.