摘要
基于方位特征(POC)的并联机构设计理论,提出了一种低耦合度非完全对称的2T1R并联机构。首先根据序单开链法的机构运动学建模原理,分别给出该机构位置正反解的求解算法,并通过数值算例验证了其正确性;其次针对该机构的刚度特性问题,基于虚拟弹簧法建立了该并联机构的刚度模型;最后分析了该机构刚度矩阵中扭转刚度和线性刚度的变化趋势,得出该机构的刚度在工作空间内变化较为平稳,能承受较大载荷,为该机构的动力学分析及样机设计提供了理论基础。
Based on the design theory of POC parallel mechanism,a low coupling degree and incomplete symmetry 2T1R parallel mechanism is proposed.Firstly,according to the modeling principle of kinematic of the mechanism based on ordered SOC,the solution algorithm of the forward and inverse position of this parallel mechanism are derived,and an numerical example is provided to confirm the correctness of the solution procedure.Secondly aiming at the stiffiness characteristics of the parallel mechanism,the stiffness model of the parallel mechanism is established based on the virtual spring method.Finally,the change trend of torsional stiffness and linear stiffness in cartesian stiffness matrix were analyzed.The results show that the stiffness of the mechanism changes smoothly in the working space and can bear large load.This work provides a theoretical basis for the dynamic analysis and prototype design of the PM.
作者
陈谱
沈惠平
邓嘉鸣
吴广磊
CHEN Pu;SHEN Huiping;DENG Jiaming;WU Guanglei(School of Mechanical Engineering and Rail Transit,Changzhou University,Changzhou 213164,China;School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China)
出处
《常州大学学报（自然科学版）》
CAS
2021年第2期52-61,共10页
Journal of Changzhou University：Natural Science Edition
基金
国家自然科学基金资助项目(51975062,51375062)。
