1T1R新型并联机构摆动力完全平衡及部分平衡优化的设计  

Balance Design and Optimization of Swing Force of the New Spatial 1T1R Parallel Mechanism

作　　者：汪林平 沈惠平[1] 李菊[1] 聂亚彪 陈炳伟 Wang Linping;Shen Huiping;Li Ju;Nie Yabiao;Chen Bingwei(Research Center of Modern Mechanism,Changzhou University,Changzhou 213016,China)

机构地区：[1]常州大学现代机构学研究中心,江苏常州213016

出　　处：《机械传动》2023年第4期58-68,共11页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51975062)。

摘　　要：应用有限位置法对一种空间1T1R新型并联机构进行摆动力完全平衡设计与部分平衡优化。首先,根据并联机构拓扑结构设计理论,设计一种一平移一转动(1T1R)的新型并联机构,并进行拓扑分析和位置分析。其次,进行树的划分,确定连枝构件,通过求得该机构包含的两个子运动链(SKC)的质量矩,最终求出机构总的质量矩。然后,根据质量矩平衡条件,导出摆动力完全平衡方程组,求得各树枝构件的配重参数并进行完全平衡效果验证。最后,考虑实用原则,进一步研究摆动力部分平衡优化,采用遗传算法,求得最优配重质量和配重位置,并将平衡前后进行对比,通过计算可知:机构质心轨迹在X、Y、Z方向上的波动分别减少了55.38%、26.17%、86.29%,摆动力在X、Y、Z方向上的波动分别减少了58.39%、67.11%、39.19%。The finite position method is applied to the complete balance design and partial balance optimization of swing force of a new spatial 1T1R parallel mechanism.Firstly,according to the topology design theory of parallel mechanism,a new type of translation rotation(1T1R)parallel mechanism is designed,and the topology and position analysis are carried out.Secondly,divide the tree,determine the connecting branch component,and finally calculate the total mass moment of the mechanism by obtaining the mass moment of the two sub kinematic chains(SKC)contained in the mechanism.Then,according to the mass moment balance condition,the complete balance equations of pendulum force are derived,the counterweight parameters of each branch member are obtained,and the complete balance effect is verified.Finally,considering the practical principle,further study the balance optimization of the pendulum force part,and use the genetic algorithm to obtain the optimal counterweight mass and counterweight position,and compare the balance before and after.The calculation shows that the fluctuation of the center of mass trajectory of the mechanism in the X,Y and Z directions is reduced by 55.38%,26.17%and 86.29%respectively,and the fluctuation of the pendulum force in the X,Y and Z directions is reduced by 58.39%,67.11%and 39.19%respectively.

关 键 词：并联机构 拓扑分析 有限位置法 摆动力平衡 总质量矩 

分 类 号：TH112[机械工程—机械设计及理论]