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零耦合度部分運(yùn)動(dòng)解耦三平移并聯(lián)機(jī)構(gòu)剛度建模與分析
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國(guó)家自然科學(xué)基金項(xiàng)目（51475050）


Stiffness Analysis of Three-translation Parallel Mechanism with Zero Coupling Degree and Partial Motion Decoupling
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    摘要:

    (RPa∥3R)2R+RPa機(jī)構(gòu)是基于方位特征（POC）方程并聯(lián)機(jī)構(gòu)拓?fù)渚C合理論的一種非對(duì)稱并聯(lián)機(jī)構(gòu)，其耦合度為零，且具有部分運(yùn)動(dòng)解耦性。本文對(duì)該機(jī)構(gòu)進(jìn)行剛度建模和特性分析。首先，對(duì)該機(jī)構(gòu)進(jìn)行拓?fù)浣Y(jié)構(gòu)描述，基于虛擬彈簧法對(duì)機(jī)構(gòu)支鏈進(jìn)行剛度建模，給出支鏈的靜力學(xué)方程，并求解機(jī)構(gòu)的剛度矩陣；其次，給出機(jī)構(gòu)在工作空間中的整體剛度分布，并分別對(duì)x、y、z軸方向的扭轉(zhuǎn)、線性剛度進(jìn)行分析；進(jìn)一步對(duì)機(jī)構(gòu)進(jìn)行有限元分析，并與虛擬彈簧法所得的機(jī)構(gòu)變形結(jié)果進(jìn)行對(duì)比，驗(yàn)證剛度結(jié)果的正確性；最后，對(duì)比非對(duì)稱的(RPa∥3R)2R+RPa機(jī)構(gòu)與對(duì)稱Delta機(jī)構(gòu)在不同截面下的剛度特性，結(jié)果表明，(RPa∥3R)2R+RPa機(jī)構(gòu)的剛度大于Delta機(jī)構(gòu)。

    Abstract:

    The (RPa∥3R)2R+RPa mechanism is an asymmetric 3DOF translational parallel mechanism（PM）designed by the author’s team based on the POC equation of the topological structure design theory. This parallel manipulator has zero coupling degree and partial motion decoupling is also easy to be manufactured. The stiffness model and performance of the PM were studied. Firstly, the stiffness model of the limb was established by using the virtual spring method, and the static equation of the limb was given. Then the overall stiffness distribution of the PM in the working space was given, and the torsion and linear stiffness of the x, y and z axes were analyzed respectively. Furthermore, finite element analysis method was used to analyze the deformation of the PM, and the deformation results of the PM were compared with those obtained by the virtual spring method, the correctness of stiffness results was verified. Finally, the stiffness characteristics of (RPa∥3R)2R+RPa mechanism and Delta mechanism were compared with different sections, which indicated that the stiffness value of (RPa∥3R)2R+RPa PM was greater than that of the Delta PM. The research result laid a foundation for the structural design of the parallel manipulator, and also provided a systematic theoretical framework to evaluate the kinematic properties of such PMs as a basis for future dimensional optimization, prototype development and dynamics analysis.

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孫馳宇,沈惠平,王一熙,許正驍,袁軍堂.零耦合度部分運(yùn)動(dòng)解耦三平移并聯(lián)機(jī)構(gòu)剛度建模與分析[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2020,51(6):385-395. SUN Chiyu, SHEN Huiping, WANG Yixi, XU Zhengxiao, YUAN Juntang. Stiffness Analysis of Three-translation Parallel Mechanism with Zero Coupling Degree and Partial Motion Decoupling[J]. Transactions of the Chinese Society for Agricultural Machinery,2020,51(6):385-395.

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  • 收稿日期:2019-09-11
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  • 在線發(fā)布日期: 2020-06-10
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