基于3-UPU的并联机构高空平台抑振系统研究  

Research on Vibration Damping Device of High Altitude Platform Based on 3-UPU Parallel Mechanism

作　　者：刘智光[1] 于菲[1] 王刚[1] 李铁军[1] 安占法[2] 

机构地区：[1]河北工业大学机械工程学院,天津300130 [2]河北建工集团,石家庄050051

出　　处：《机械设计与研究》2016年第2期41-45,共5页Machine Design And Research

基　　金：国家科技支撑计划资助项目(2013BAF07B00);河北省科技支撑计划资助项目(13211910D)

摘　　要：为实现幕墙安装人机协作系统中高空平台振动抑制,针对该平台存在的多维振动特性,提出应用基于3-UPU并联机构的振动抑制装置。该机构通过改变支链长度实现动、定平台相对移动,各支链分别应用阻尼吸振装置进行能量吸收,从而减小高空作业平台的振动。为控制高空作业平台与被吸附幕墙之间作用力,建立了并联机构运动学模型和静力学模型,并计算了雅克比矩阵,进而建立等效阻尼和各支链阻尼及动平台位移之间的关系。最后,对阻尼抑振机构应用Matlab/Simulink进行仿真分析,结果显示当抑振机构的支链阻尼均为11000 N·S/m时,振动响应大约0.3 s后趋于稳定,该减振机构对冲击振动衰减效果明显,可以显著提高高空作业平台稳定性,并实际验证了并联机构抑振的有效性。A 3-UPU parallel mechanism with 3 translational DOF was constructed to solve the problem of multidimensional vibration of high altitude platform. The relative movement between moving platform and fixed base can be achieved by changing branch chain length,and the vibration is reduced by adding energy dissipation components to the each branch chain. The models of kinematics and static model were established in order to control the force between this parallel mechanism and the installed glass curtain wall. Jacobian matrix was educed,then the equivalent damping was solved through giving the branch chain damping and displacement of the moving platform. Finally,Simulation result from the Matlab / Simulink shows that the vibration response curve reaches stability after 0.3 s when the damping of ecah branch chain is 11 000 N · S / m. So the device can damp multidimensional vibration and impulse stability,which that is validated by analyzing the experimental data.

关 键 词：高空平台 3-UPU 多维抑振 等效阻尼 

分 类 号：TH123[机械工程—机械设计及理论]