类Exechon并联模块弹性静力学建模与分析

doi:10.16183/j.cnki.jsjtu.2017.08.014

摘要/Abstract

摘要： 针对Exechon并联模块动平台摆角范围较小的问题，提出了一种拓扑构型为2RPU&1RPS的类Exechon并联模块.在前期完成的概念设计基础上，对类Exechon并联模块进行了自由度计算及运动学逆解分析.采用子结构综合法，建立了计及关节弹性变形和支链体柔性的类Exechon并联模块弹性静力学模型.依托所建模型，计算了该类并联模块极限位姿下动平台的弹性位移和关节约束反力(力矩)，并进一步给出了两者在工作空间内的映射.研究表明，模块自重对类Exechon并联模块动平台的弹性位移和关节约束反力(力矩)具有重要影响，其静力学特性在工作空间内随位姿变化明显，且在沿z向的工作截面上呈对称性映射.

关键词: , 并联机构, 类Exechon, 逆运动学, 弹性静力学, 子结构综合

Abstract: A novel Exevariant PKM with a topological arrangement of 2RPU&1RPS was proposed by the authors to achieve a better platform rotational ability over the Exechon parallel kinematic machine (PKM). After introducing the concept design, the mobility analysis and inverse kinematics of the proposed Exevariant PKM are conducted. With the substructure synthesis techniques, a kinetostatic model that includes joint deflections and limb flexibilites is developed to investigate the kinetostatic characteristics of the Exevariant PKM. The platform’s elastic displacements and joint reaction forces/moments of the Exevariant PKM at the extreme position are analyzed. Furthermore, their mappings over any work plane are evaluated throughout the entire workspace. The results reveal that the gravitycaused elastic displacements of the platform and joint force/moment reactions are noticeable. The mappings of platform’s elastic displacements and joint forces/moments reactions in the entire workspace are positiondependant and demonstrate a symmetry over any given work plane.

Key words: parallel kinematic machine, Exevariant, inverse kinematic, kinetostatic, substructure synthesis

中图分类号:

TH 112

汤腾飞1，张俊2，赵艳芹1. 类Exechon并联模块弹性静力学建模与分析[J]. 上海交通大学学报（自然版）, 2017, 51(8): 992-999.

TANG Tengfei1,ZHANG Jun2,ZHAO Yanqin1. Kinetostatic Modeling and Analysis of
an ExeVariant Parallel Kinematic Machine[J]. Journal of Shanghai Jiaotong University, 2017, 51(8): 992-999.

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