一种位置正解符号化且运动部分解耦的新型2T1R并联机构动力学分析  

Dynamics analysis of a new 2T1R parallel mechanism with symbolic position solutions and partially motion decoupled

作　　者：杜中秋 沈惠平[1] 李菊[1] 李涛[1] 吴广磊 DU Zhong-qiu;SHEN Hui-ping;LI Ju;LI Tao;WU Guang-lei(Research Center for Advanced Mechanisms,Changzhou University,Changzhou 213164,China;School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China)

机构地区：[1]常州大学现代机构学研究中心,江苏常州213164 [2]大连理工大学机械工程学院,辽宁大连116024

出　　处：《机电工程》2023年第8期1231-1239,共9页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(51975062)。

摘　　要：三自由度并联机构具有结构简单、造价低、运动控制方便,以及刚度高、承载能力大等特点,目前在工业生产等设备中得到了广泛应用,而其中具有移动和转动混合运动的2T1R并联机构具有更高的研究价值。为了研发和推广2T1R并联机构,提出了一种零耦合度且运动部分解耦的空间2T1R并联机构。首先,对该机构的位置正反解进行了分析,并求解了各构件速度与输入速度之间的关系矩阵;然后,运用基于虚功原理的序单开链法,按照机构拓扑结构分解的顺序,分别建立了各子运动链(SKC)的动力学模型,从而得到了整个机构的逆向动力学模型;最后,对建立的动力学模型进行了算例研究,得到了机构的驱动力和2个SKC连接处的支反力,并将其与基于ADAMS的虚拟仿真结果进行了对比。研究结果表明:该2T1R并联机构具有部分运动解耦的优点,且通过仿真对比验证了所建立的逆向动力学模型的有效性和正确性,可为其结构设计和样机研制奠定基础。Three-degree-of-freedom parallel mechanism has the characteristics of simple structure,low cost,convenient motion control,high stiffness and large bearing capacity,and it has been widely used in industrial production and other equipment,among which 2T1R parallel mechanism with mixed movement and rotation has higher research value.In order to develop and popularize the application of 2T1R parallel mechanism(PM),a spatial 2T1R PM with zero coupling degree and partially decoupled motion was proposed.Firstly,the forward and inverse solutions of the PM were analyzed,and the relation matrix between the velocity of each component and the input velocity was solved.Then,the dynamic models of each sub kinematic chain(SKC)were established using the order single open chain method based on the virtual work principle;and according to the order of the topological structure decomposition of the mechanism,the inverse dynamic model of the entire mechanism was obtained.Finally,an example study was carried out on the established dynamic model,and the driving force of the PM and the support and reaction force at the connection of two SKC were obtained,which were compared with the results of ADAMS virtual simulation.The results show that the 2T1R parallel mechanism has the advantage of partial motion decoupling,and the effectiveness and correctness of the established reverse dynamics model are verified by simulation comparison,which lays a foundation for its structural design and prototype development.

关 键 词：并联机构 方位特征方程 逆向动力学 虚功原理 机构动力学建模 运动学建模 

分 类 号：TH112[机械工程—机械设计及理论]