冗余驱动并联摇摆台的动平台刚度分析  

Stiffness Analysis of Parallel Swaying Platform with Redundancy

作　　者：孙巧如 韩先国[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《机电产品开发与创新》2015年第4期1-3,58,共4页Development & Innovation of Machinery & Electrical Products

摘　　要：针对并联摇摆台的支撑特点,采用节点载荷分配系数的方法将动平台的交叉梁系拆分为简支梁,根据同一节点处变形量相等的条件,建立关于各节点载荷分配系数的方程,进而计算出交叉梁系的最大变形量。分别计算交叉梁系在非冗余和冗余驱动时的最大变形量,并采用有限元的方法对其进行验证,表明节点载荷分配系数法计算交叉梁系的变形量是合理的。当机构存在驱动误差时,动平台可以通过自身刚度的变化减小由于误差而产生的系统内力。Based on the features of the parallel mechanism, the box girder structure of the moving platform was simplified as the space inter-section beam systems. The method of node load distraction factor was proposed to split the space intersection beam into simple supported beams. According to the condition that the deformation of the same node is equal, the equations about load distraction factor was established.Then the maximum deformation of the intersection beam can be obtained. Calculated the maximum deformation of the space intersection beam under redundant actuation and non-redundant actuation respectively, and verified the result by finite element method. It was concluded that the method of node load distraction factor was practicable. When there exist actuation errors, the moving platform can change its stiffness to reduce the internal force which can avoid the destruction of structure.

关 键 词：交叉梁系 载荷分配系数 冗余驱动 刚度 

分 类 号：TP319[自动化与计算机技术—计算机软件与理论]