风洞捕获轨迹机构设计与工作空间分析  

Wind Tunnel Capture Trajectory Mechanism Design and Workspace Analysis

作　　者：李宁[1] 谢志江[1] 姜安林 贾波 LI Ning;XIE Zhi-jiang;JIANG An-lin;JIA Bo(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：《机械设计与制造》2021年第8期176-180,184,共6页Machinery Design & Manufacture

基　　金：国家自然科学基金(U1530138)。

摘　　要：针对以前设计的风洞捕获六自由度机构不能满足现在行程的要求,提出了一种新型串并混联六自由度机构;同时对于D-H法不能针对所有机构建立运动学方程,应用基本坐标变换和D-H法联合对该整体机构建立了运动学的正解方程,并对机构在不同姿态工况下进行有限元分析;采用蒙特卡洛法分析其工作空间,并用SimMechanics中的仿真法进行对比,验证了运动模型与工作空间的正确性,结果表明在满足结构强度和刚度的条件下,使得X向和Y向行程提高4倍,Z向行程提高了4.8倍。In view of the fact that the previously designed wind tunnel capture six-degree-of-freedom mechanism can not meet the requirements of the current travel,a new type of serial-hybrid six-degree-of-freedom mechanism is proposed.At the same time,for the D-H method,the kinematics equation cannot be established for all mechanisms.The combination of transformation and D-H method establishes the kinematics positive solution equation for the whole mechanism,and performs finite element analysis on the mechanism under different attitude conditions.The Monte Carlo method is used to analyze its workspace and compare it with the simulation method in SimMechanics.The correctness of the motion model and the workspace is verified.The results show that the X-direction and Y-direction stroke are increased by 4 times and the Z-direction stroke is increased by 4.8 times under the condition of structural strength and stiffness.

关 键 词：串并混联机构 D-H法 蒙特卡洛法 工作空间 

分 类 号：TH16[机械工程—机械制造及自动化]