Stewart型并联机构的振动建模与分析  

The Vibration Modeling and Analysis of Stewart Parallel Mechanism

作　　者：孙国立[1] 杨晓钧[1] 

机构地区：[1]哈尔滨工业大学机电学院,哈尔滨150001

出　　处：《组合机床与自动化加工技术》2013年第12期4-7,10,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金资助(51105089)

摘　　要：在复杂的切削加工条件下,掌握并联运动机床动平台的振动特性,对于预防共振及加工控制具有重要的现实意义。在对Stewart型并联机构进行运动学分析的基础上,建立了该型并联机构的振动动力学模型,推导得出了振动动力学方程,并进行了振动特性的分析研究。通过将机构的各个支链简化为弹性元件,将其等效为弹簧阻尼系统,建立了机构的振动模型。通过牛顿欧拉法进行力学分析,建立了动平台的振动动力学方程。在建立的模型基础上,研究了Stewart型并联机构固有频率与其动平台位姿之间的关系,得到了Stewart型并联机构基于不同位姿的固有频率变化特性。The vibration modeling and analysis of Stewart Platform-based Machine tool are strongly needed to avoid resonance occurring in the prevailing complicated machining situations.The vibration modeling includes the derivation of the vibration equation,the detailed processes deal with that.Each of the kinematic chain is considered as a flexible chain and simplified into a spring-damper submodel.Vibration modeling of the machine tool is established by Newton-Euler approach.Then,the natural frequencies of the moving platform are obtained based on the vibration equation by the aid of MATLAB.The vibration characteristics of the machine tool are analyzed and discussed by means of the numerical examples considering the different poses of the moving platform.

关 键 词：并联机构 STEWART 振动建模 固有频率 

分 类 号：TH16[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]