新型四自由度并联隔振系统的机构设计与分析  

Mechanism Design and Analysis of a New Type of Four - Freedom ParallelVibration Isolation System

作　　者：李亚晶 岳义 韦宝琛[1,2] 崔国华 刘国兴 LI Yajing;YUE Yi;WEI Baochen;CUI Guohua;LIU Guoxing(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620 [2]上海交通大学机械与动力工程学院,上海200240

出　　处：《机床与液压》2023年第21期99-106,共8页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年科学基金项目(51905337);上海市科委地方院校能力建设项目(22010501700)。

摘　　要：为避免救护车内的病人受到车体振动带来的二次伤害,基于螺旋理论和全雅可比奇异性分析提出一种新型2-UPS-2-(RP-RR)U对称并联隔振装置,该机构具有2个转动自由度和2个移动自由度(2R2T)。运用螺旋理论方法,根据刚体转轴与约束螺旋的关系,确定了动平台的两条连续转轴,其中一条转轴为固定转轴,与机构位形无关,过静坐标系原点且沿Y轴方向;另一转轴为任意转轴,与机构位形相关,过动平台两U副中心点,验证了该机构运动的连续性。运用闭环矢量法建立该机构的运动学逆解模型,结合边界搜索法在MATLAB中仿真出该机构的工作空间,验证了运动模型的正确性。In order to avoid the patients in the ambulance suffering from the secondary injury caused by the vibration of the car body,a new type of 2-UPS-2-(RP-RR)U symmetrical parallel vibration isolation device was proposed based on the screw theory and full Jacobian singularity analysis.The mechanism has two rotational degrees of freedom and two mobile degrees of freedom(2R2T).Based on the screw theory and the relationship between the rigid body axis and the constraint screw,two continuous axes of the moving platform were determined.One of the axes was a fixed axis,which was independent of the configuration of the mechanism and passed through the origin of the static coordinate system and along the Y axis;the other axis was arbitrary,which was related to the configuration of the mechanism.The motion continuity of the mechanism was verified by the two U pairs of center points of the moving platform.The closed-loop vector method was used to establish the inverse kinematics model of the mechanism,combined with the boundary search method,the workspace of the mechanism was simulated in MATLAB,the correctness of the motion model was verified.

关 键 词：隔振系统 并联机构 全雅可比奇异性分析 连续转轴 

分 类 号：TH112[机械工程—机械设计及理论]