3-(PRRPR)RC调姿隔振平台机构学建模与振动特性研究  

Mechanism Modeling and Vibration Characteristics Analysis of 3-(PRRPR)RC Orientation Adjustment and Vibration Isolation Platform

作　　者：耿明超 崔铁征 周敬钧 李二伟[2] 李润涛 赵铁石[2] GENG Mingchao;CUI Tiezheng;ZHOU Jingjun;LI Erwei;LI Runtao;ZHAO Tieshi(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;China North Industries Group Corporation Inner Mongolia First Machinery Group Co.,Lid.,Baotou O14000,China)

机构地区：[1]河北建筑工程学院机械工程学院,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,秦皇岛066004 [3]中国兵器工业集团内蒙古第一机械集团有限公司,包头014000

出　　处：《农业机械学报》2024年第11期492-503,共12页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金联合基金重点项目(U21A20123);河北省“三三三人才工程”项目(C20221029);河北省高校基本科研业务经费项目(2023JCTD03)。

摘　　要：针对载体仪器设备调姿隔振的双重需求,提出了一种3-(PRRPR) RC调姿隔振平台新构型。机构主要由3个分支组成,分支中大行程作动器和被动隔振单元以闭环子链的形式存在。被动隔振时,假定作动器瞬时锁定,采用等效运动旋量描述闭环子链,将调姿隔振平台瞬时等效为3-RRC并联机构。基于旋量代数及QR分解,推导了调姿隔振平台被动隔振模式下动平台及分支杆件的一、二阶影响系数。基于动力学模型推导了基础受到简谐运动激励时调姿隔振平台运动微分方程,采用振型叠加法对其振动响应进行求解,并给出了相应的数值算例。设计了调姿隔振平台原理样机,搭建了实验系统,并进行了x、y、z轴方向的隔振实验。数值算例与实验结果表明,3个方向原理样机振动传递率均低于55%,即隔离45%以上的振动,验证了所设计的并联平台被动隔振的有效性。A configuration of 3-(PRRPR)RC parallel platform was proposed to meet the dual requirements of orientation adjustment and vibration isolation.The mechanism consisted of three limbs,in which the large-stroke actuator and the passive vibration isolation unit existed in the form of closed-loop sub-chain.In the case of passive vibration isolation,it was assumed that the actuator was instantaneously locked,and the equivalent motion screw was used to describe the closed-loop sub-chain and the orientation adjustment and vibration isolation platform was instantaneously equivalent to a 3-RRC parallel mechanism.Based on the screw algebra and QR decomposition,the first and second order influence coefficients of the mobile platform and the limb links in the passive vibration isolation mode of the orientation adjustment and vibration isolation platform were derived.Based on the dynamic model,the vibration differential equation of the platform was derived when the foundation was excited by simple harmonic motion.The vibration response was solved by the superposition method of vibration mode,and the corresponding numerical examples were given.The prototype of the orientation adjustment and vibration isolation platform was designed,the experimental system was built,and the passive vibration isolation experiments in x,y and z directions were carried out.Numerical examples and experimental results showed that the vibration transmissibility of the prototype in three directions was less than 55%,that was,more than 45%of the vibration was isolated,which verified the effectiveness of the passive vibration isolation of the designed parallel platform.

关 键 词：调姿隔振平台 并联机构 运动学 动力学 振动特性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]