一种六输入三自由度并联平台机构分析
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摘要
提出一种六输入、动平台自由度为3的并联平台机构.对于动平台,输入是冗余的.引入协调构件,使机构的自由度为6,所以对于整个机构,输入是确定的,避免了超确定输入协调控制的问题,同时使机构具有冗余驱动机构的优点.将动平台和协调构件的运动作为机构的广义输出,对机构进行了运动学分析,建立了输入和广义输出的映射关系,得到了机构的1阶、2阶影响系数矩阵.应用虚功原理和达朗贝尔原理对机构进行了动力学分析,得到了动力学模型.仿真结果表明,该并联平台机构具有承载能力高等特点,是设计重载并联机构的一种新的解决方案.
A parallel platform mechanism is put forward,in which the number of inputs is six and the DOF(degree of freedom) of moving platform is three.The inputs of the mechanism are redundant for the moving platform.The DOF of the system is six as the coordination components are incorporated,and the inputs are determinate for the whole mechanism.So the problem of distribution of over-determinate inputs is avoided and the mechanism has advantages like redundant actuation mechanism.The generalized outputs of mechanism are the movements of moving platform and coordination components.By analyzing kinematics of the mechanism,the mapping relationship between inputs and generalized outputs is established,and the first-order and second-order influence coefficient matrix are obtained respectively.Based on the virtual work principle and D’Alembert principle,the dynamic model of the mechanism is built.The simulation results show that the parallel platform mechanism has the characteristics of high load carrying capacity.The method proposed is a new solution to design parallel mechanisms with heavy load carrying capability.
A parallel platform mechanism is put forward,in which the number of inputs is six and the DOF(degree of freedom) of moving platform is three.The inputs of the mechanism are redundant for the moving platform.The DOF of the system is six as the coordination components are incorporated,and the inputs are determinate for the whole mechanism.So the problem of distribution of over-determinate inputs is avoided and the mechanism has advantages like redundant actuation mechanism.The generalized outputs of mechanism are the movements of moving platform and coordination components.By analyzing kinematics of the mechanism,the mapping relationship between inputs and generalized outputs is established,and the first-order and second-order influence coefficient matrix are obtained respectively.Based on the virtual work principle and D’Alembert principle,the dynamic model of the mechanism is built.The simulation results show that the parallel platform mechanism has the characteristics of high load carrying capacity.The method proposed is a new solution to design parallel mechanisms with heavy load carrying capability.
引文
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[2]Nahon M A,Angeles J.Optimization of dynamic forces in me-chanical hands[J].Mechanical Design,1991,113(2):167-173.
[3]蔡胜利,白师贤.冗余驱动的并联机器人性能分析[J].机械科学与技术,1996,15(2):235-238.Cai S L,Bai S X.Characteristics of redundantly actuated paral-lel manipulators[J].Mechanical Science and Technology,1996,15(2):235-238.
[4]Fang S Q,Franitza D,Torlo M,et al.Motion control of a tendon-based parallel manipulator using optimal tension distribution[J].IEEE/ASME Transactions on Mechatronics,2004,9(3):561-568.
[5]Belda K,Bohm J,Valasek M.State-space generalized predic-tive control for redundant parallel robots[J].Mechanics BasedDesign of Structures and Machines,2003,31(3):413-432.
[6]黄真,赵永生.空间多关节六足步行机超确定输入能量最优解析[J].机械工程学报,1989,25(4):20-25.Huang Z,Zhao Y S.The optimum energy distribution of overde-terminate input of the six-legged walking robot[J].ChineseJournal of Mechanical Engineering,1989,25(4):20-25.
[7]Huang Z,Zhao Y S.The accordance and optimization-distribution equations of the over-determinate inputs of walk-ing machine[J].Mechanism and Machine Theory,1994,29(2):327-332.
[8]沈辉,吴学忠,刘冠峰,等.驱动冗余并联机械手的混合位置/力自适应控制[J].自动化学报,2003,29(4):567-572.Shen H,Wu X Z,Liu G F,et al.Hybrid position/force adaptivecontrol of redundantly actuated parallel manipulators[J].ActaAutomatica Sinca,2003,29(4):567-572.
[9]李为民,高峰.一种自均力冗余驱动接口模块[J].中国机械工程,2004,15(2):157-159.Li W M,Gao F.A redundantly actuated interface module withforce self-evening[J].China Mechanical Engineering,2004,15(2):157-159.
[10]李为民,高峰.新型并联冗余驱动地震模拟台[J].机械设计,2004,21(3):22-24.Li W M,Gao F.A new kind of parallel earthquake simulationplatform with redundance actuation[J].Journal of Machine De-sign,2004,21(3):22-24.
[11]赵铁石,黄真.欠秩空间并联机器人输入选取的理论与应用[J].机械工程学报,2000,36(10):55-61.Zhao T S,Huang Z.Theory and application of selecting ac-tuating components of spatial parallel mechanisms[J].ChineseJournal of Mechanical Engineering,2000,36(10):55-61.
[12]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2003:182-200,301-321.Huang Z,Zhao Y S,Zhao T S.Advanced spatial mecha-nism[M].Beijing:Higher Education Press,2003:182-200,301-321.
[13]于淑政,冯继刚,崔国华,等.3UPS-1S并联机构的运动学分析[J].河北工程大学学报:自然科学版,2011:28(3):97-99.Yu S Z,Feng J G,Cui G H,et al.Kinematics analysis of the3UPS-1S parallel mechanism[J].Journal of Heibei Universityof Engineering:Natural Science Edition,2011,28(3):97-99.
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