基于6-UPS并联机构的车辆振动测试台架运动学研究

Research on Kinematics of Vehicle Vibration Test Benches Based on a 6-UPS Parallel Mechanism

为了提升车辆振动测试台架承载性能和测试精度,基于6-UPS并联机构设计了一种可以全方位模拟车辆振动环境的测试台架。通过对6-UPS并联机构进行机构分析与自由度计算,建立部件间的位姿关系,推导了台架的运动学方程,研究了台架的运动学特性。通过建立车辆振动测试台架的仿真模型,利用Adams软件对台架进行了运动学仿真分析,并对台架的运动学参数进行了理论验证。结果表明,车辆振动测试台架能够按照预定的轨迹运动,仿真曲线光滑无突变,设计的台架能够满足预期的性能指标,验证了台架设计的合理性。研究为车辆振动测试台架的动力学分析、控制策略研究和优化设计等奠定了基础。

In order to improve the bearing performance and test accuracy of vehicle vibration test benches,a test bench which can simulate vehicle vibration environment in an all-round way is designed based on a 6-UPS parallel mechanism.Through the mechanism analysis and degree of freedom calculation of the 6-UPS par⁃allel mechanism,the pose relationship between components is established,the kinematics equation of the bench is deduced,and the kinematic characteristics of the bench are studied.By establishing the simulation model of vehicle vibration test benches,the kinematic simulation analysis of the bench is carried out using Adams soft⁃ware,and the kinematic parameters of the bench are verified theoretically.The results show that the vehicle vi⁃bration test bench can move according to the predetermined trajectory,the simulation curve is smooth without mutation,and the designed bench can meet the expected performance indexes,which verifies the rationality of the bench design.This study lays a foundation for the dynamic analysis,control strategy research and optimiza⁃tion design of vehicle vibration test benches.