液压驱动滚动并联机构运动可行性与仿真分析  

Locomotion feasibility and simulation analysis for a rolling parallel mechanism with hydraulic driven

作　　者：沈海阔[1] 黄齐来 丁万[1] 仝龙飞 姚燕安[1] 

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044

出　　处：《中南大学学报（自然科学版）》2016年第6期1906-1915,共10页Journal of Central South University:Science and Technology

基　　金：中央高校基本科研业务费专项资金资助项目(2014JBZ016);国家自然科学基金资助项目(51405013)~~

摘　　要：提出一种新型三自由度液压驱动滚动并联机构。各条支链采用液压缸驱动的反平行四边形机构,通过支链的伸缩比放大作用实现并联机构整体的大变形,并利用液压系统响应快速、输出力强的特点,保证并联机构的移动灵活性与大负载能力。描述该并联机构的组成、特定条件下的奇异位型以及1个翻滚步态周期的5种地面支撑状态与给定机构参数下液压杆伸缩的可行域。对并联机构在5种地面支撑状态的运动可行性与可行域以及基于ADAMSTM对翻滚过程的动力学仿真进行分析。研究结果表明:该机构实现了翻滚运动,同时得到了运动过程中液压缸的位移、伸缩速度与受力数据,可为实验样机设计与构型优化提供参考。A novel three-degree of freedom rolling parallel mechanism was proposed. Its each branch chain was driven by a hydraulic cylinder based on the anti-parallelogram mechanism. Large deformation of the overall appearance was obtained by taking advantage of the branches with their telescopic ratio amplification abilities. Flexible locomotion and large load capacity were guaranteed through the rapid response and powerful strength output of the hydraulic system. The mechanical configuration and the singular types under certain conditions of the mechanism were described. Five supporting states in one rolling period and the feasible region of the hydraulic rod on specified parameters were given.The locomotion feasibility and feasible region of the mechanism on these five states were focused on. The dynamics simulation for rolling locomotion was taken based on ADAMS^TM. The results show that the rolling locomotion is feasible.Meanwhile, the stroke, velocity and force of the hydraulic cylinders are obtained to provide references for designing experimental prototype and configuration optimization.

关 键 词：液压驱动 反平行四边形机构 滚动并联机构 运动可行性分析 动力学仿真 

分 类 号：TG156[金属学及工艺—热处理]