一种新颖柔性关节三平移并联机构的设计与仿真  

Design and simulation of a novel flexible joint 3-DOF translational parallel mechanism

作　　者：王国明[1] 马履中[2] 

机构地区：[1]滨州学院自动化系,山东滨州256600 [2]江苏大学智能机械与机器人研究所,江苏镇江212013

出　　处：《机械设计》2011年第11期28-31,共4页Journal of Machine Design

基　　金：国家自然基金资助项目(50375067);国家863高技术研究发展计划资助项目(2006AA102254-1);滨州学院青年人才创新工程科研基金资助项目(BZXYQNLG201007)

摘　　要：介绍了一种空间新型少自由度三平移并联机构,该新型三平移并联机构是以-P-R-R-R-R-为支路结构。提出一种利用轴线相互垂直的转动副代替传统意义上的万向节的思想,即新颖柔性转动副。利用Pro/E对机构进行建模,通过MECHANISM/Pro模块导入ADAMS/View模块中进行仿真。分别在机构的3个移动支链上施加运动,通过计算机模拟,得到动平台的运动轨迹和角速度随时间变化的关系,表明该柔性机构在一定运动范围及频率下,引用无间隙的柔性关节,避免了因普通运动副间隙而造成的运动失真。A novel parallel mechanism was introduced, which can perform three-dimensional translation. This mechanism had three P-R-R-R-R chains; the paper provided a new idea, which uses the mutual vertical revolute pairs to replace the traditional universal joint. First is to use Pro/E to build the virtual prototype. Secondly, use the software MECHANISM/Pro to import the virtual prototype to ADAMS/view. Finally, the moving condition of movable platform, such as movement track and angular velocity, was obtained through driving three moving sub-chains by relevant motions. The mechanism used flexible joints which had no clearance and avoided the distortion with clearance of movement pair.

关 键 词：并联机构 柔性 仿真 间隙 

分 类 号：TH112[机械工程—机械设计及理论]