一种2RPS-RPU并联机构的动力学分析  

Dynamic Analysis of 2RPS-RPU Parallel Mechanism

作　　者：杨应洪 尹显明 YANG Ying-hong;YIN Xian-ming(The Center of Engineering and Technology,Southwest University of Science and Technology,Sichuan Mianyang 621010,China)

机构地区：[1]西南科技大学工程技术中心

出　　处：《机械设计与制造》2019年第9期58-62,66,共6页Machinery Design & Manufacture

基　　金：四川省教育厅自然科学基金项目(17zd1116)

摘　　要：Exechon混联机床因具有结构刚度大、良好的运动学和动力学特性等特点,广泛应用于高精密、快速加工中。但该机床的并联模块同时也具有转动范围小、工作空间窄等特点;为此,通过支链变异法,提出一种可满足机床2R1T运动要求的2RPS-RPU并联机构。利用杆长条件建立机构的位置反解方程,运动副速度投影推导系统的非满秩雅克比矩阵;并结合拉格朗日方法,推导了机构的动力学模型。最后采用Matlab对系统运动学、动力学进行数值计算,并绘制各个变化曲线,总结出该机构的基本运动和力学性能,其结果表明该机构也具有Exechon机床并联模块的良好的动力学特性等特点,为后续开发和改进该机床提供了新的并联模块构型和理论依据。The Exechon hybrid machine has been widely used in high precision and fast machining due to its high structure rigidity,high kinematics and dynamic characteristics.Its parallel module also has the characteristics of small rotation range and narrow working space.A 2RPS-RPU parallel mechanism was introduced to meet the motion requirements of Exechon machine 2R1T by branching mutation method.The position inverse solution of the mechanism and the non-full rank Jacobian matrix of the motion subtraction projection system are established by using the rod length condition.The dynamic model of the mechanism is deduced by the Lagrangian method.Finally,the kinematics and dynamics of the system were calculated by Matlab,the curves were drawn and the basic motion and mechanical properties of the mechanism were summarized.The results show that the mechanism also has the same characteristics of dynamical as the Exechon machine parallel module,and provides a new parallel module configuration and theoretical basis for the further study and innovation of the machine.

关 键 词：Exechon混联机床 运动学 动力学模型 拉格朗日方法 

分 类 号：TH16[机械工程—机械制造及自动化] TH112