一种过约束并联机构受力的数值仿真分析方法  

A Numerical Simulation Method for Force Analysis of an Overconstrained PM

作　　者：赵永生[1,2] 刘文兰[1] 许允斗[1,2] 姚建涛[1,2] 金林茹 

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004 [2]燕山大学先进锻压成型技术与科学教育部重点实验室,秦皇岛066004 [3]北京机电院机床有限公司,北京100027

出　　处：《中国机械工程》2015年第12期1576-1583,共8页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51275439);国家重点基础研究发展计划(973计划)资助项目(2013CB733000);河北省自然科学基金资助项目(E2014203255)

摘　　要：鉴于目前对过约束并联机构进行受力仿真分析的研究非常少,提出了一种对该类机构受力的数值仿真分析方法。将机构的动平台、定平台及所有运动副视作刚体,将易产生空间复合弹性变形的分支杆视为柔性体,用虚拟关节代替外形复杂的运动副模型,结合三维建模软件、ANSYS软件及ADAMS软件建立与理论模型完全一致的刚柔混合模型;仅改变驱动量使机构运动到指定位形,便能实现对机构在任意位形下的受力分析,避免了对机构的不同位形重建模型。采用该方法对三种类型的过约束并联机构进行了受力分析,分析结果验证了该方法的正确性,同时也表明该方法具有一定的通用性,且无需复杂的理论计算,便能获得过约束并联机构在任意位形下的驱动力和各关节约束反力大小,为此类机构的受力分析提供了便捷途径。A numerical simulation method for force analysis of the overconstrained PM was pro- posed,in view of the fact that very few literatures had focused on the force simulation analysis of this type of mechanism at present. The rigid-flexible mixed model of the overconstrained PM was estab- lished combining the 3D modeling software, the ADAMS software and ANSYS software, which was idendieal with the theoretical one completely. The base, moving platform and kinematic joints were built as rigid bodies,while the links easy to produce spatial composite elastic deformations were built as flexible bodies, and the virtual joints were adopted to replace the actual joints with complex shape during modeling. Only the driving values were needed to be changed to obtain the actuated forces/ torques and the reactions of the kinematic joints when the overconstrained PM was in arbitrary config- uration,thus avoiding rebuilding the simulation model. Force analyses of three type of overconstrained PMs were carried out using the proposed method. The results show the correctness and universality of the method, meanwhile show that the method provides a simple and effective way for force analysis of the overconstrained PMs instead of complex calculations.

关 键 词：过约束并联机构 数值仿真 受力分析 刚柔混合模型 

分 类 号：TH112[机械工程—机械设计及理论] TP24[自动化与计算机技术—检测技术与自动化装置]