基于凯恩法的大摆角混联机床并联机构的动力学分析  

Dynamics analysis of parallel module of a novel hybrid kinematics machine based on Kane

作　　者：薄瑞峰[1] 鲁岩 李瑞琴[1] BO Ruifeng;LU Yan;LI Ruiqin(School of Mechanical Engineering,North University of China,Taiyuan 030051,CHN)

机构地区：[1]中北大学机械工程学院

出　　处：《制造技术与机床》2019年第7期67-71,共5页Manufacturing Technology & Machine Tool

基　　金：国家自然科学基金面上项目(51275486);山西省回国留学人员科研资助项目(2017087);山西省国际科技合作项目(2015081016)

摘　　要：针对一种大摆角混联机床的并联机构,首先对其机构构型进行了描述:然后以输入端和输出端的运动映射为基础,引入凯恩方法根据运动学分析原理来分析动力学问题,分别对输入和输出端运动构件进行动力学建模。假定机床各部件为刚性构件,不存在弹性力和摩擦力,通过综合从而建立并联机构系统的动力学方程,得到并联机构输出运动与所受驱动力的关系。最后,通过算例进行了仿真验证,得到了在给定输出运动时,动平台、滑块及各个驱动支链的驱动力曲线,对进一步分析大摆角混联机床的动态性能、机构优化设计和控制模型的建立等工程应用奠定了基础。Aiming at the parallel module of a kind of hybrid kinematics machine with large pendulum angle, the mechanism configuration is described at first.Then on the basis of the mapping relationship between the motion of the driving chain and the moving platform, the dynamic model of each driving linkage and the dynamic platform are respectively established with Kane equation by using kinematics theory to analyse the dynamic problem.Assuming that all the parts of the hybrid kinematic machine are rigid, and there are no elastic force and friction force.The dynamic model of the parallel module is built by integration, and the relation between the movement of the parallel module and the driving force is obtained.Finally, a simulation example is given, and the driving force curves of the moving platform, the sliding block and the driving chain are obtained.The model proposed lays a foundation for further analyse of dynamic performance, optimization design and drive control.

关 键 词：混联机床 并联机构 动力学分析 凯恩方程 

分 类 号：TH122[机械工程—机械设计及理论]