基于绝对节点坐标法的平面3-RRR并联机构动态特性研究  

Study on the dynamic characteristics of the planar 3-RRR parallel mechanism based on the absolute nodal coordinate framework

作　　者：姜振海[1] 杨帅 陈丽霞 郭训薇 夏椰林 JIANG Zhen-hai;YANG Shuai;CHEN Li-xia;GUO Xun-w ei;XIA Ye-lin(School of Mechatronic Engineering,Changchun University of Technology,Changchun 130012;Downhole Operation Company,Bohai Drilling Engineering Company,Renqiu 062552)

机构地区：[1]长春工业大学机电工程学院,吉林长春130012 [2]渤海钻探井下作业公司,河北任丘062552

出　　处：《机械设计》2019年第11期114-118,共5页Journal of Machine Design

摘　　要：平面3-R R R并联机构的柔性杆在运动过程中产生的柔性变形会影响机构的输出精度。基于绝对节点坐标法,建立含有柔性杆、刚性动平台的平面3-R R R并联机构刚柔耦合模型,对并联机构的动态特性进行研究,获得并联机构各时刻的位姿和动平台质心运动轨迹。结果表明,柔性杆的弹性变形使动平台不能按照预期的轨迹运行。建立柔性杆局部坐标系,得到了柔性杆中点处挠度值,发现主动杆的弯曲变形远大于从动杆,柔性杆对机构输出精度的影响主要由主动杆产生。仿真结果可以为机构的设计和优化提供理论依据。The dynamic characteristics of the planar 3-RRR parallel mechanism with a flexible rod are explored in this article.The rigid-flexible coupling model of the planar 3-RRR parallel mechanism with a flexible rod and a rigid dynamic platformis set up based on the absolute nodal coordinate framework, and the dynamic characteristics of the parallel mechanism are analyzed.The position and attitude of the parallel mechanism as well as the centroid of the moving platform^ mass center areidentified. The results show that the moving platform cannot run along the expected trajectory due to the elastic deformation offlexible rods. In order to obtain the deflection value at the middle point of the flexible rod,the local coordinate system is workedout. Thereby, the bending deformation of the active rod is far greater than that of the driven rod. The effect of the flexible rod onthe output precision of the mechanism is mainly produced by the active rod. The simulation results provide theoretical basis forthe design and optimization of the mechanism.

关 键 词：绝对节点坐标法 平面3-R R R并联机构 柔性多体系统 动力学 

分 类 号：TH113[机械工程—机械设计及理论]