弹性支链6自由度并联机构缓冲减振性能分析  

Performance analysis on the buffer and vibration reduction of the six-DOF parallel mechanism with the spring branched chain

作　　者：高琳[1] 段国林[1] 姚涛[1] GAO Lin;DUAN Guo-lin;YAO Tao(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401)

机构地区：[1]河北工业大学机械工程学院,天津300401

出　　处：《机械设计》2020年第10期21-26,共6页Journal of Machine Design

基　　金：国家自然科学基金资助项目(51775166);河北省自然科学基金资助项目(F2014202241)。

摘　　要：针对工程实际中的多维振动与冲击现象,基于6-SPS并联机构构型设计了一种含弹簧支链的减振平台。建立了该减振机构平台的样机分析模型,基于D-H方法推导了并联减振机构的位移雅可比矩阵,采用New-Euler方法及虚功原理推导了动平台受到外激励时机构的自由振动微分方程,获得特征方程理论解的求解方法。通过ADAMS-Vibration动力学仿真分析模块求解机构的固有频率及模态主振型,获得动平台受到扰动外激励时的机构在X,Y,Z三个空间方位上的频率响应功率谱特性曲线。分析了当动平台受到冲击激励时系统的缓冲减振动力学性能,为6自由度并联机构缓冲减振平台的优化设计提供了理论基础。Aiming at the multi-dimensional vibration and impact in engineering practice,a vibration-reduction platform with the spring branched chain is designed based on 6-SPS parallel mechanism.A prototype analytical model of the vibration-reduction platform is set up.The displacement Jacobian matrix of the vibration-reduction parallel mechanism is deduced by means of the D-H method.With the aid of the New-Euler method and the virtual work principle,the free-vibration differential equation of the mechanism is worked out when the platform is subject to external excitation,and the analysis is conducted on how to identify the theoretical solution of the characteristic equation.Based on ADAMS-Vibration dynamic module of simulation and analysis,both the natural frequencies and the modal modes of the mechanism are solved,and the frequency-response power spectrum curves of the mechanism in three spatial directions of X,Y and Z are obtained when the moving platform is disturbed by external excitation.The dynamic characteristics of the system under impact excitation are explored,which provides theoretical basis for the optimal design of the six-DOF parallel mechanism’s buffer and vibration-reduction platform.

关 键 词：并联机构 减振 弹簧支链 固有频率 动力学分析 

分 类 号：TH112[机械工程—机械设计及理论]