一种新型并联灌注机器人动力学分析与仿真  

Dynamics analysis and simulation of a novel parallel perfusion robot

作　　者：杨会[1] 房海蓉[1,2] 方跃法[1,2] YANG Hui;FANG Hairong;FANG Yuefa(School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China;Key Laboratory of Vehicle Advanced Manufacturing,Measuring and Control Technology,Ministry of Education,Beijing Jiaotong University,Beijing100044,China)

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044 [2]北京交通大学载运工具先进制造与测控技术教育部重点实验室,北京100044

出　　处：《中南大学学报（自然科学版）》2019年第9期2118-2127,共10页Journal of Central South University:Science and Technology

基　　金：中央高校基本科研业务费专项资金资助项目(2018JBZ007);国家自然科学基金资助项目(51675037)~~

摘　　要：针对用于大型航天器防热层灌注的3PSS?PU并联灌注机器人,进行动力学分析与仿真验证。建立并联机构逆运动学模型,通过对数学模型求导,分别求解并联机构驱动滑块和连杆的速度、加速度与动平台速度、加速度之间的映射关系,得到并联机构的支链雅克比矩阵。在此基础上,利用虚功原理建立并联机构的动力学模型,并通过Mathematica和Adams软件,在动平台沿zb轴移动和沿yb轴转动2种运动轨迹下,分别对比3个驱动滑块的位移、速度、加速度以及驱动力等运动参数的理论曲线和仿真变化曲线。研究结果表明:所建立并联机构运动学和动力学模型正确,并联机构不仅具有良好的移动性能,而且具有较好的转动性能,为并联灌注机构动力学性能进一步研究以及控制系统的设计提供了理论依据。For the 3PSS?PU parallel perfusion robot used for the thermal protection layer perfusion of the largescale spacecraft,the analysis of dynamics and numerical simulation were conducted.The inverse kinematics model was established.Through the derivation of the mathematical model,the mapping relationship between the velocity and the acceleration of the driving slider and the link and the velocity and acceleration of the moving platform was derived.And the link Jacobian matrix of the mechanism was also obtained.On this basis,the dynamics model of the parallel mechanism was established by using the principle of virtual work.With the Mathematica and Adams software,the theoretical and simulation curves of the displacement,velocity,acceleration and driving force of each driving joint formed when the moving platform moves along the zb axis and rotates about yb axis were compared,respectively.The results show that the kinematics and dynamics model of the parallel mechanism is correct,and the parallel mechanism not only has good mobile performance but also has good rotation performance.The above studies provide important theoretical basis for the further study of the dynamics performance and the design of the control system of the parallel perfusion mechanism.

关 键 词：并联灌注机器人 雅克比矩阵 动力学 虚功原理 数值仿真 

分 类 号：TH112[机械工程—机械设计及理论]