主被动闭环融合调姿隔振平台运动学及刚度特性分析  

Kinematics and Stiffness Characteristics of Orientation Adjustment and Vibration Isolation Platform with Active-passive Closed-loop Fusion

作　　者：耿明超 李二伟[2] 李亚楠 马宏 王占英 李欣 Geng Mingchao;Li Erwei;Li Yanan;Ma Hong;Wang Zhanying;Li Xin(School of Mechanical Engineering,Hebei University of Architecture,Zhangjiakou 075000,China;Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System,Yanshan University,Qinhuangdao 066004,China;Hebei Angtai Robot Technology Co.,Ltd.,Shijiazhuang 050000,China)

机构地区：[1]河北建筑工程学院机械工程学院,河北张家口075000 [2]燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛066004 [3]河北昂泰机器人科技有限公司,河北石家庄050000

出　　处：《机械传动》2024年第6期22-28,共7页Journal of Mechanical Transmission

基　　金：河北省“三三三人才工程”资助项目(C20221029,C20231128);河北省自然科学基金项目(E2021203103);河北省高校基本科研业务经费项目(2023JCTD03);河北省高等学校科学技术研究重点项目(ZD2021315);张家口市重点研发计划项目(2221021B)。

摘　　要：针对载体仪器设备调姿隔振的双重需求,提出了一种多维调姿隔振平台新构型。在分支中,主动调姿和被动隔振单元以闭环子链的形式融合。被动隔振时,假定电动缸瞬时锁定,采用等效运动旋量描述闭环子链的运动特性,将包含闭环子链的分支等效为串联分支,并以此为基础,推导了机构的1阶、2阶影响系数,形式简洁紧凑,为后续的运动微分方程建立、振动特性分析奠定了基础。基于虚功原理,推导了考虑重力、外力及位姿变化趋势的完整柔度矩阵和方向刚度模型,并结合数值算例分析了方向刚度在不同坐标系中的表现形式,为机构的性能分析提供参考。A new configuration of multi-dimensional platform is proposed to meet the dual requirements of orientation adjustment and vibration isolation.In the branch,the active orientation adjustment and passive vibration isolation units are fused in the form of closed-loop subchain.In the case of passive vibration isolation,suppose that the electric cylinder is locked instantaneously.The equivalent motion screw is used to describe the motion characteristics of the closed-loop subchain,and the branch containing the closed-loop subchain is equivalent to the series branch.Based on this,the first and second order influence coefficients of the mechanism are derived,which are concise and compact,and lay a foundation for the establishment of the motion differential equation and the analysis of the vibration characteristics of the mechanism.Based on the virtual work principle,the complete flexibility matrix and the directional stiffness model,which considers the gravity,external force and the changing trend of poses,are derived.The expression of the directional stiffness in different coordinate systems is analyzed by numerical examples,which provides reference for the performance analysis of the mechanism.

关 键 词：调姿隔振 并联机构 旋量 运动学 刚度 

分 类 号：TB535.1[理学—物理]