2-PRR并联机构刚柔动力学仿真分析  

Rigid and Flexible Dynamics Simulation of 2-PRR Parallel Mechanism

作　　者：陈纯[1] 刘二乐 黄玉美[2] 

机构地区：[1]陕西理工学院机械工程学院,陕西汉中723000 [2]西安理工大学机械与精密仪器工程学院,陕西西安710048

出　　处：《机械设计与制造》2015年第4期101-104,共4页Machinery Design & Manufacture

基　　金：陕西理工学院科技基金项目;陕西教育厅科学研究计划项目资助(12JK0674)

摘　　要：用三维软件对2-PRR并联机构进行了设计及建模,在ANSYS中对连杆构件用柔性化处理替换了原来的刚性体,通过计算分析了其动力学模态特性。在ADAMS中对2-PRR并联机构进行了运动学和动力学仿真,验证了该机构的正、逆解,并得到了驱动滑块上的驱动力矩变化特性曲线。研究结论为并联机构在雕铣机床和平面抓取机器人中的设计和选用提供了理论依据。所研究的2-PRR并联机构已经在平面雕铣、机器人平面抓取、农业采摘等装备上得到应用。并联机构的动力学分析(正、逆两类问题)是并联机构在机器人、机床动力分析、整机动态设计、动力学尺度综合、控制器参数整定和伺服电机选配的理论基础。The 2-PRR parallel mechanism has been designed and modeled with the 3D software, and the link members with a flexible processing to replace the original rigid body in ANSYS. The dynamic modal characteristics are analyzed through calculation. The kinematics and dynamics simulation for 2-PRR parallel mechanism in ADAMS, verified the positive inverse of the instittttion, and got the driving torque characteristic curve changes of driven slider. The study shows that design and selection for parallel mechanism in engraving and milling machine tools and robots in plane provides a theoretical basis. The 2-PRR parallel mechanism has been applied in carving plane milling, robot plane grab, agricultural harvest equipment. Dynamic analysis of parallel mechanism （positive and negative problems） is the theoretical basis of the robot, machine tool dynamic analysis, dynamic design and dynamic scale comprehensive, parameter setting and servo motor controller in the parallel mechanism

关 键 词：2-PRR并联机构 动力学仿真 模态特性 柔性化 驱动力矩 

分 类 号：TH16[机械工程—机械制造及自动化] TH113