大型重载并联稳定接货平台动力学建模  

Dynamics of Large-scale Heavy-burden Parallel Stabilizing Cargo-receiving Platform

作　　者：李二伟[1,2] 赵铁石[1,2] 王唱[1,2] 边辉[1,2] 胡强强[1,2] 冀文杰 LI Erwei1,2 ZHAO Tieshi1,2WANG Chang1,2 BIAN Hui1,2 HU Qlangqiang1,2 JI Wenjie1,2(1. Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Laboratory, Yanshan University, Qinhuangdao 066004, China 2. Key Laboratory of Advanced Forging and Stamping Technology and Science, Ministry of Education, Yanshan University, Qinhuangdao 066004, Chin)

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形技术与科学教育部重点实验室,秦皇岛066004

出　　处：《农业机械学报》2018年第3期411-417,346,共8页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51375420);河北省自然科学基金项目(E2015203144)

摘　　要：大型重载并联稳定接货平台对于海上集装箱货物的安全转运发挥着重要的作用。根据需求设计了一个具有3个变形剪叉分支的并联稳定接货平台,该变形剪叉分支具有行程放大的功能,其由1个含子闭环的运动链URRRUU和2个SPS驱动单元构成,当分支中的2个驱动单元同步驱动时,变形剪叉分支与RPS运动链等效。在非惯性系下,首先基于矢量法分析了并联稳定接货机构上平台的伴随位移、速度和加速度,相应求得该机构的位置解;然后基于螺旋理论建立了该机构的运动学和动力学解析模型;最后通过数值算例验证了所建运动学和动力学模型的正确性,为此机构的后续结构优化和控制奠定了理论基础。Large-scale heavy-burden parallel stabilizing cargo-receiving platform（ PSCRP） plays an important role in the safe transporting of container cargo on the sea. According to the engineering needs,a PSCRP with three morph scissors mechanism（ MSM） limbs was innovatively designed. The MSM limb,with the function of displacement amplification,contained a subclosed loop kinematic chain URRUU（ U denoted universal joint and R denoted revolute joint） and two SPS（ S denoted spherical joint and P denoted prismatic pair） drive units. The MSM limb was equivalent with RPS kinematic chain when the two SPS drive units of the MSM limb were synchronously driven. In the non-inertial system,the parasitic displacement,velocity and acceleration of the upper-platform of the PSCRP were firstly analyzed based on vector method,and the position solution of the PSCRP mechanism was correspondingly obtained. Then the kinematics and dynamics analytic modellings of the PSCRP mechanism were established based on screw theory. Finally,the correctness of the models was verified by numerical example. A theoretical foundation was laid for the follow-up structural optimization and control of the PSCRP mechanism.

关 键 词：并联稳定平台 大型重载 动力学 螺旋理论 

分 类 号：U664.43[交通运输工程—船舶及航道工程] TH113[交通运输工程—船舶与海洋工程]