3自由度并联机构的动力学各向同性评价方法  

Dynamic isotropic performance evaluation of a 3-DOF parallel manipulator

作　　者：张彬彬[1] 王立平[1] 吴军[1] 

机构地区：[1]清华大学机械工程系,北京100084

出　　处：《清华大学学报（自然科学版）》2017年第8期803-809,共7页Journal of Tsinghua University(Science and Technology)

基　　金：国家自然科学基金项目(51575307;51622505);国家科技重大专项(2014ZX04002051)

摘　　要：该文以应用于高速、高加速混联加工装备中的一种3-PRRU空间3自由度并联机构为研究对象,研究其动力学建模及动力学各向同性评价方法。基于虚功原理,建立了3-PRRU并联机构的动力学模型,并从动能角度出发,提出了两个评价机构各向同性性能的指标。针对该指标,提出了一种5维图像描述方法,并对3-PRRU并联机构进行各向同性性能评价。该动力学各向同性评价指标具有量纲统一、物理意义明确的优点,可以更准确地对并联机构的动力学性能分布进行表征。Dynamic modeling was used to evaluate a 3-PRRU parallel manipulator in a high-speed hybrid machine tool. The virtual work principle was used to develop the dynamic model of the 3-PRRU parallel mechanism with two new indices defined to evaluate the isotropy of dynamics from a kinetic energy viewpoint. The indices were then used in an atlas method for a five dimensions image. The results show that these indices accurately describe the isotropic performance of the 3-PRRU parallel manipulator. The two indices have uniform dimensions, clear physical meaning, and can accurately describe the dynamics of parallel manipulators.

关 键 词：并联机构 动力学模型 性能评价 各向同性 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]