上海交通大学学报

上海交通大学学报 >

2017 , Vol. 51 >Issue 8: 992 - 999

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2017.08.014

兵器工业

 类Exechon并联模块弹性静力学建模与分析

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  •  1. 安徽工业大学 机械工程学院， 安徽 马鞍山 243032；
    2. 福州大学 机械工程及自动化学院， 福州 350116

网络出版日期: 2017-08-30

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 Kinetostatic Modeling and Analysis of
 an ExeVariant Parallel Kinematic Machine

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  •  1. School of Mechanical Engineering, Anhui University of Technology, Ma’anshan 243032, Anhui, China；
     2. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China

Online published: 2017-08-30

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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

本文引用格式

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, 2017 , 51(8) : 992 -999 . DOI: 10.16183/j.cnki.jsjtu.2017.08.014

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

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