考虑驱动摩擦效应的冗余并联机构动力学建模  

Dynamic modeling of redundant parallel mechanism considering drive friction

作　　者：卢超 秦伟[1] 胡小亮 唐小斌 刘飞[1] 谢志江[1] LU Chao;QIN Wei;HU Xiaoliang;TANG Xiaobin;LIU Fei;XIE Zhijiang(State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing 400044,China)

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400044

出　　处：《中南大学学报（自然科学版）》2020年第3期678-686,共9页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金资助项目(U1530138)。

摘　　要：为了对喷管段的型面进行精确控制,设计一种可以实现姿态调整的平面3自由度4-PRR冗余并联机构,根据机构运动特点,利用闭环矢量法求解该机构运动学逆解。在运动学的基础上,结合虚功原理和牛顿?欧拉法2种动力学建模方法建立考虑驱动摩擦效应的动力学模型。首先利用虚功原理和范数最小原则建立不考虑摩擦效应情况下该机构的逆动力学模型,然后基于该动力学模型,结合牛顿?欧拉法建立考虑“库仑+黏性”摩擦效应的动力学模型,利用MATLAB软件对所建立的2种动力学模型进行工程实例仿真,得到2种情况下的驱动力曲线,分析考虑摩擦效应与否的驱动力变化规律。研究结果表明:摩擦效应对驱动力影响显著。In order to control the profile of the nozzle segment,a planar 3-DOF 4-PRR redundant parallel mechanism was designed to realize attitude adjustment.The closed-loop vector method was used to solve the inverse kinematics of the mechanism.On the basis of kinematics,a dynamic model considering the driving friction effect was established by combining the principle of virtual work and Newton-Eulerian dynamic modeling methods.The principle of virtual work and the principle of minimum norm were used to establish the inverse dynamics model of the mechanism without considering the friction effect.And then the Newton-Eulerian method was combined to establish the"Coulomb+viscosity"friction effect based on the dynamic model.The MATLAB software was used to simulate the two dynamic models.The driving force curves were obtained in two cases,and the variation of driving force considering the friction effect was analyzed.The results show that effect of the friction on driving force is obvious.

关 键 词：冗余并联机构 运动学 摩擦效应 动力学 

分 类 号：TH112[机械工程—机械设计及理论]