2P3RR并联机构的边界元法静力学建模与解析  

Statics Analysis on 2P3RR Parallel Mechanism Based on BEM

作　　者：韩旭炤 李锁牢[1] 杨新刚[2] 刘鸿雁[2] HAN Xu-zhao;LI Suo-ao;YANG Xin-gang;LIU Hong-yan(Institute of Electrical and Mechanical,Xianyang Vocational Technical College,Shaanxi Xianyang 712000,China;School of Mechanical and Precision Instrument Engineering,Xi’an University of Technology,Shaanxi Xi’an 710048,China)

机构地区：[1]咸阳职业技术学院机电学院,陕西咸阳712000 [2]西安理工大学机械与精密仪器工程学院,陕西西安710048

出　　处：《机械设计与制造》2023年第10期65-69,共5页Machinery Design & Manufacture

基　　金：陕西省自然科学基础研究计划资助项目(2019JM-209);咸阳职业技术学院博士科研基金资助项目(2021BK06)。

摘　　要：针对一种2P3RR平面运动并联机构的静力学相关问题进行了深入研究。详细推导了该机构的位置正逆解和被动关节等运动学问题,给出了梁元件弯曲问题的边界元法建模过程,基于边界元法对该2P3RR并联机构的静力学问题进行了建模和解析,求解得到了机构中每个分支的受力情况和变形情况,通过ANSYS仿真软件验证了边界元求解的正确性,为该机构的设计开发奠定了前期的理论基础。边界元法建模方法在并联机构的静力学解析方面应用较少,是一种新的探索,能够方便地给出每个杆件上的全载荷情况,更有利于机构的开发和设计。The statics related problems of a 2P3RR planar parallel mechanism are deeply studied.The forward and inverse posi-tion solutions and passive joints of the mechanism are derived in detail,and the boundary element method(BEM)modeling pro-cess of beam bending is given.Based on the boundary element method,the force bearing status of the 2P3RR mechanism is mod-eled and analyzed,and the linkage’s force bearing and deformation status is given.The correctness of the boundary element method solution is verified by ANSYS simulation,which lays a theoretical foundation for the design and development of the mechanism.The analysis method in this paper is a new exploration in the static analysis of parallel mechanism,which can easily give the full loads of each member,and is more conducive to the development and design of the mechanism.

关 键 词：并联机构 运动学 被动关节 静力学 边界元法 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置] TH112[自动化与计算机技术—控制科学与工程]