基于大型构件装配的六自由度并联机构设计技术研究  

Research on the design technology of six degrees of freedom parallel mechanism based on large component assembly

作　　者：敬兴久[1] 吉方[1] 梅斌[2] 夏欢[1] JING Xingjiu;JI Fang;MEI Bin;XIA Huan(Institute of Mechanical Manufacturing Technology,China Academy of Engineering Physics,Mianyang 621900,CHN;Department of Mechanical Engineering,Tsinghua University,Beijing 100084,CHN)

机构地区：[1]中国工程物理研究院机械制造工艺研究所,四川绵阳621900 [2]清华大学机械工程系,北京100084

出　　处：《制造技术与机床》2018年第8期59-63,共5页Manufacturing Technology & Machine Tool

摘　　要：部分机械产品由多段大型构件组成,装配中一个移动构件相对于另一个固定构件具有空间六自由度。目前用于装配的调姿机构,通过调节关节改变工件的位置和姿态,关节空间与工件的位姿空间不一一对应,即各自由度调节具有耦合性,会严重影响装配效率。为此设计了一种基于气缸驱动的Stewart平台并联调姿机构,具有较好的柔性和自适应性,调节位姿时可直接作用于工件的位姿空间,提高工作效率。首先,建立并联机构模型,并对机构的运动学和静力学进行了分析;其次,采用Adams软件对模型进行了仿真分析,同时采用MATLAB软件对仿真结果进行对比验证;最后,依据边界条件和优化目标提出了一套优化设计流程,通过分析计算得到了相对较优的调姿平台模型参数。There are some mechanical products each of which is composed of several large components. One moving component in the assembly has a space of six degrees of freedom relative to the other fixed component. The current attitude adjustment mechanism has a certain coupling degree of freedom adjustment and seriously affects assembly efficiency. In this paper,a parallel manipulator platform based on cylinder follow-up principle is designed. First,the model of parallel mechanism is established,and the kinematics and statics of the mechanism are analyzed. Secondly,Adams software is used to carry out the simulation analysis of the model,and the MATLAB simulation software is used to verify the simulation results. Finally,an optimal design flow is proposed according to the boundary conditions and the optimization objective. The relatively optimal parameters of the adjustment platform model are obtained through the analysis and calculation.

关 键 词：大型构件 装配 STEWART平台 气缸 仿真分析 

分 类 号：TH122[机械工程—机械设计及理论]