3-PSR/PSS装校平台所受六维力的解算研究  

Research on Calculation of Six-Dimensional Force on 3-PSR/PSS Installation Platform

作　　者：李亮亮 洪小英[1] LI Liang-liang;HONG Xiao-ying(Sichuan Vocational College of Information Technology,Sichuan Guangyuan 628000,China;An’an Technology Service Studio,Lizhou District,Guangyuan City,Sichuan Guangyuan 628000,China)

机构地区：[1]四川信息职业技术学院,四川广元628000 [2]广元市利州区安安科技服务工作室,四川广元628000

出　　处：《机械设计与制造》2024年第9期284-287,294,共5页Machinery Design & Manufacture

基　　金：四川信息职业技术学院青年科技基金(2021C45)。

摘　　要：为实现大型激光装置LRU模块的自动化柔性装校与拆卸,在运动实现机构上需满足大刚度、高精度、小安装空间及大提升高度的要求,并解决直接使用六维力传感器造成的机构刚度低和占用安装高度的问题,提出了一种将运动和测力合二为一的方法。在3-PRS/PSS和4-PPR混联机构的基础上,用低维力传感器代替六维力传感器,对3-PRS/PSS的动平台进行静力学分析,推导出了六维力的解算算法,并用Adams和Matlab对算法的正确性进行验证。经装校与拆卸过程的任务分析和误差分析,该算法满足任务需求,在实际工程项目中具有可利用价值。In order to realize the automatic and flexible assembly and disassembly of the LRU module of the large laser device,meet the requirements of large rigidity,high precision,small installation space and large lifting height on the movement realiza⁃tion mechanism,and solve the problem of low rigidity of the mechanism and occupation of installation height caused by the direct use of the six-dimensional force sensor,a method of combining motion and force measurement is proposed.On the basis of the 3-PRS/PSS and 4-PPR hybrid mechanism,the low-dimensional force sensor is used to replace the six-dimensional force sensor,the statics analysis of the 3-PRS/PSS dynamic platform is carried out,and the calculation algorithm of the six-dimensional force is deduced.And use Adams and Matlab to verify the correctness of the algorithm.After the task analysis and error analysis of the as⁃sembly and disassembly process,the algorithm meets the task requirements and has useful value in actual engineering projects.

关 键 词：六维力 静力学分析 算法 混联机构 

分 类 号：TH16[机械工程—机械制造及自动化] TH86[自动化与计算机技术—检测技术与自动化装置] TP2[自动化与计算机技术—控制科学与工程]