摘要
为了解决折叠臂升降机在坡度稍大路面上难以正常工作的问题,通过并联机构和串联机构的组合,并考虑球副转角范围的要求,提出了基于含等效球铰的3-RPS并联机构自调平升降机设计方案;为了能正确分析该结构强度和刚度,通过建立动平台与支链、折叠臂之间的静力平衡方程和静力雅克比矩阵,推导出了升降机的完整静力学模型,并着重研究了其中含等效球铰的3-RPS并联机构静力学模型,通过算例1对比传统3-RPS并联机构的静力学模型验证了含等效球铰的3-RPS并联机构静力学模型的正确性,通过算例2确定了油缸径向力的影响因素并得到了减小径向力的解决方法;该研究为含等效球铰的其他并联机构静力学研究提供了理论基础。
In order to solve the problem that the folding-arm lifts have difficulties working on the slope,the design scheme of automatic leveling lift based on a 3-RPS parallel manipulator is put forward by the combination of the parallel manipulator and the series manipulator,the requirements of the spherical angle range is also taken into account.In order to correctly analyze the strength and stiffness of the structure,a complete static model of the lift is deduced by establishing the static balance equation and the Jacobian matrix between the moving platform and the branching and folding arms.The static model of the 3-RPS parallel manipulator with equivalent spherical hinge is studied.The static model of the 3-RPS parallel manipulator with equivalent spherical joint is validated by comparing the traditional static model of the 3-RPS parallel manipulator by example 1,the influence of the radial force on the hydraulic cylinder is determined by example 2 and the method for reducing the radial force of the hydraulic cylinder is obtained.This study provides a theoretical basis for the statics study of other parallel manipulator with equivalent spherical hinges.
出处
《燕山大学学报》
CAS
北大核心
2017年第3期230-234,共5页
Journal of Yanshan University
基金
山东省自然科学基金资助项目(ZR2014EEM046)
关键词
升降机
自调平
3-RPS
等效球铰
静力学
lift
automatic leveling
3-RPS
equivalent spherical hinge
statics
