空间两回路并联机构的摆动力平衡设计及优化  

Balance Design and Optimization of Shaking Force of Spatial Two-Loop Parallel Mechanism

作　　者：李菊[1] 聂亚彪 沈惠平[1] 杨廷力[1] LI Ju;NIE Yabiao;SHEN Huiping;YANG Tingli(Research Center for Advanced Mechanism Theory,Changzhou University,Changzhou Jiangsu 213164,China)

机构地区：[1]常州大学现代机构学研究中心,江苏常州213164

出　　处：《机械设计与研究》2023年第1期63-70,共8页Machine Design And Research

基　　金：国家自然科学基金资助项目(51975062、5147505)。

摘　　要：将有限位置法推广应用于空间多回路并联机构的摆动力(又称震动力)完全平衡,并以单自由度的空间两回路并联振动筛机构为例,对其进行摆动力完全平衡设计与部分平衡优化。给出机构摆动力完全平衡的有限位置法的基本原理和解题步骤;介绍并联振动筛机构的拓扑组成,并对其进行位置分析;然后通过求解该机构包含的两个子运动链(SKC)的质量矩,得到机构总的质量矩,再对机构进行树划分,确定连枝构件,并根据质量矩平衡条件,建立摆动力完全平衡方程组,求得各树枝构件的配重参数,同时进行完全平衡效果验证;考虑实用原则对该机构进行摆动力部分平衡的优化,采用遗传优化算法求得各树枝构件的最优配重参数,优化结果表明:机构质心轨迹在x、y、z方向上的波动分别减小了56.52%、74.09%、67.74%,摆动力在x、y、z方向上的波动分别减小了1.9%、45.18%、39.64%。文中工作为空间多回路并联机构的摆动力完全平衡设计和部分平衡优化提供了参考。The finite position method is extended to complete shaking force balancing of spatial parallel mechanism.Taking the spatial two circuit parallel vibrating screen mechanism with a single degree of freedom as an example,the complete shaking force balancing design and partial shaking force balancing optimization are carried out.Firstly,the basic principle and solving steps of the finite position method for the complete balancing of shaking force of the mechanism are given.Then the topological composition of parallel vibrating screen mechanism is introduced,and its position is analyzed.By solving the mass moment of the two sub-kinematic chains(SKCs)of the mechanism,the total mass moment of the mechanism is obtained.Then the tree division of the mechanism is carried out to determine the connecting branch components.According to the balance condition of mass moment,the balance equations are established to obtain the counterweight parameters of each branch component,and the complete balancing effect is verified.Finally,considering the practical principle,the partial balance of the shaking force of the mechanism is optimized,and the genetic optimization algorithm is used to obtain the optimal counterweight parameters of each branch component.The optimization results show that the fluctuation of the centroid trajectory of the mechanism in the x,y and z directions is reduced by 56.52%,74.09%and 67.74%,respectively;and the fluctuation of the shaking force in the x,y and z directions is reduced by 1.9%,45.18%and 39.64%,respectively.This paper provides a reference for the complete balance design and partial balance optimization of shaking force of spatial multi-loop parallel mechanism.

关 键 词：多回路并联机构 有限位置法 摆动力平衡 质量矩 

分 类 号：TH112[机械工程—机械设计及理论]