新型三维平移自由度Delta机构准零刚度隔振平台及特性  

A Novel 3-DOF Quasi-zero-stiffness Vibration Isolation Platform with Delta Mechanism and Its Characteristics

作　　者：翁泽宇[1] 刘胜利 吴晓郁 余行行 王武江 朱甫宏 WENG Zeyu;LIU Shengli;WU Xiaoyu;YU Hanghang;WANG Wujiang;ZHU Fuhong(College of Mechanical Engineering,Zhejiang University of Technology,Hangzhou 310023,Zhejiang,China;Unit 31606 of PLA,Huzhou 313005,Zhejiang,China)

机构地区：[1]浙江工业大学机械工程学院,浙江杭州310023 [2]31606部队,浙江湖州313005

出　　处：《兵工学报》2022年第3期667-675,共9页Acta Armamentarii

基　　金：国家自然科学基金项目(51875527)。

摘　　要：为实现空间三维低频隔振,提出一种具有空间三维平移自由度的新型Delta机构,并以此为基础,演绎成为具有负刚度特性的并联机构,然后并联正刚度的竖直弹簧,得到一种新型三自由度并联机构准零刚度隔振平台。通过建立隔振平台的静力学和动力学模型,分析其动平台在不同空间坐标位置时各自由度方向上的刚度特性和固有频率。结果表明:隔振平台在水平方向上静力学特性呈线性关系,且仅与水平方向位移有关;在竖直方向具有准零刚度特性,可获得较低的固有频率,且仅与竖直方向位移有关,当动平台偏离平衡位置,零刚度特性不再明显。对隔振平台是否引入具有负刚度特性并联机构进行竖直方向固有频率测试,测试结果验证了引入负刚度特性并联机构的隔振平台可大幅度地降低系统在竖直方向的固有频率。A novel Delta mechanism with three translational degrees of freedom in space is proposed to realize the spatial three-dimensional low-frequency vibration isolation.A parallel mechanism with negative stiffness is deduced from the Delta mechanism.Then a three-DOF parallel quasi-zero stiffness vibration isolation platform is constructed by connecting the parallel mechanism with a vertical spring with positive stiffness.The statics and dynamics models of the vibration isolation platform are established to analyze the stiffness characteristics and natural frequencies of the vibration isolation platform in different spatial coordinates.The result shows that the static characteristic of the vibration isolation platform is linear in the horizontal direction and is only related to the horizontal displacement.In the vertical direction,it has quasi-zero stiffness characteristic,which can obtain a lower natural frequency,and is only related to the vertical displacement.When the vibration isolation platform deviates from the equilibrium position,the zero-stiffness characteristic is no longer obvious.The vertical natural frequencies of the vibration isolation platform with the parallel mechanisms with and without negative stiffness were test.The test results show that the vibration isolation platform with the parallel mechanism with negative stiffness can greatly reduce the vertical natural frequency of the system.

关 键 词：DELTA机构 隔振平台 准零刚度 负刚度机构 

分 类 号：TH113.1[机械工程—机械设计及理论]