6-PSS并联机构的刚-柔耦合动力学建模及仿真  

Rigid-flexible Coupling Dynamic Modeling and Simulation of a 6-PSS Parallel Mechanism

作　　者：邢迪雄 任志奇 赵路佳 XING Dixiong;REN Zhiqi;ZHAO Lujia(Department of Mechanical Engineering,North China Electric Power University,Baoding Hebei 071003,China)

机构地区：[1]华北电力大学机械工程系,河北保定071003

出　　处：《机床与液压》2018年第17期48-52,共5页Machine Tool & Hydraulics

摘　　要：主要对一种新颖的6-PSS并联机构进行刚-柔耦合动力学建模以及仿真分析。并联机构主要包括动平台、静平台、定长杆、滑块和冗余容错驱动装置等。以此机构为研究对象进行运动学分析,得到逆运动学方程。首先利用有限元理论对柔性杆进行离散处理,运用拉格朗日方程和动力学相关理论建立单元的弹性动力学方程及刚性子结构的动力学方程;推导出系统的弹性动力学方程。其次利用ADAMS软件和ANSYS软件建立6-PSS并联机构的刚-柔耦合体模型,对该模型进行仿真分析,与全刚体模型进行比较。仿真结果表明两类模型运动和受力曲线吻合,同时在短时间内,平台位置和受力误差趋于某一波动范围,模型各驱动力与系统负载相比较小;建立的刚-柔耦合体模型正确,机构的驱动性能较好。A novel 6-PSS parallel mechanism was proposed,which was used for kinetics analysis of the rigid-flexible coupling model and simulation analysis.The parallel mechanism mainly included moving platform,static platform,fixed pole,slider and redun-dant fault-tolerant drive and other components.The parallel mechanism was used to carry on the kinematics analysis,and the inverse kinematics equation was obtained.The flexible rods were discretized by using the finite element theory;using the Lagrange equation and the kinetic theory,the elastic dynamic equations and the dynamic equations of the rigid substructures were established,and the elastic dynamic equation of the system was deduced.Using ADAMS and ANSYS software,the rigid-flexible coupling model of 6-PSS parallel mechanism was built to simulate kinematics and dynamics,which was compared to the results of rigid-body model.The results show the motion and force curves of the two models are consistent,position error of the platform and force error tend to fluctuate in a short time,driving force of the model is smaller than the system load.The established rigid-flexible coupling model is right,the agency’s drive performance is favorable.

关 键 词：并联机构 动力学建模 刚-柔耦合 仿真分析 

分 类 号：TH112[机械工程—机械设计及理论]