可重构3-RPR平面并联机构的静刚度研究  

Research on Static Stiffness of Reconfigurable 3-RPR Planar Parallel Mechanism

作　　者：黄宁宁 尤晶晶[1,2] 陆祎萌 王澍声 李成刚[2,4] HUANG Ningning;YOU Jingjing;LU Yimeng;WANG Shusheng;LI Chenggang(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing Jiangsu 210037,China;Jiangsu Key Laboratory of Precision and Micro-manufacturing Technology,Nanjing University of Aeronautics and Astronautics,Nanjing Jiangsu 210016,China;College of Economics and Management,Nanjing Forestry University,Huaian Jiangsu 223023,China;College of Mechanical&Electrical Engineering,Nanjing University of Aeronautics&Astronautics,Nanjing Jiangsu 210016,China)

机构地区：[1]南京林业大学机械电子工程学院,江苏南京210037 [2]南京航空航天大学,江苏省精密与微细制造技术重点实验室,江苏南京210016 [3]南京林业大学经济管理学院,江苏淮安223023 [4]南京航空航天大学机电学院,江苏南京210016

出　　处：《机床与液压》2024年第17期1-6,共6页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年科学基金项目(51405237);国家留学基金(201908320035)。

摘　　要：以3-RPR平面并联机构为研究对象,通过设计一种在驱动、被动和锁定3种状态之间相互切换的移动副和转动副锁定装置,实现机构的重构。对重构前、后机构的静刚度特性进行理论建模和软件仿真。通过锁定任意两个运动副的方式,实现机构的拓扑重构。根据动平台的运动状态对锁定方式进行分类,并建立机构的反向运动学模型。对机构的雅克比进行推导,并基于虚功原理,推导静刚度矩阵。最后,对重构前、后的机构进行静力学虚拟实验,对比分析实验数据。结果表明:拓扑重构可以提升平面并联机构的静刚度性能。特别地,动平台做定轴转动时,其静刚度的提升效果尤其明显。这为少自由度可重构并联机构的性能评价和参数优化提供了理论依据。Taking the 3-RPR planar parallel mechanism as the research object,the mechanism reconfiguration was realized by designing a moving pair and a rotating pair locking device that could switch between driving,passive&locking states.The static stiffness characteristics of the mechanism before and after reconfiguration were theoretically modeled and simulated by software;the topological reconfiguration of the mechanism was realized by locking any two kinematic pairs;the locking modes were classified according to the motion state of the moving platform,and the inverse kinematics model was established.Then,the Jacobian of the mechanism was derived,and the static stiffness matrix was derived based on the principle of virtual power.Finally,the statics virtual experiments of the mechanism before and after reconfiguration were carried out,and the experimental data were compared and analyzed.The results show that topological reconfiguration can improve the static stiffness performance of the planar parallel mechanism.In particular,the static stiffness performance of the moving platform is especially improved when it is rotated with fixed axis.This provides a theoretical basis for the performance evaluation and parameter optimization of the low-degrees-of-freedom reconfigurable parallel mechanism.

关 键 词：并联机构 拓扑重构 雅克比 静刚度 虚功原理 

分 类 号：TH112[机械工程—机械设计及理论]