摘要
在并联机构的动力学研究领域中,传统的多体系统研究主要集中在多刚体领域,对于构件弹性变形对系统产生的影响多进行忽略,这种分析所得结果很难保证机构的运动精度要求。基于多体动力学理论,对可应用于微纳操作领域的3-PRR平面并联机构的刚柔耦合系统进行了研究,分析柔性从动杆对于机构刚体运动的刚柔耦合特性的影响,利用Euler-Bernoulli梁理论,采用假设模态法对机构支链上从动杆的柔性变形进行分析,并利用Lagrange乘子法推导出机构刚柔耦合系统的动力学方程。这种分析方法不但满足机构较高的精度要求,也满足工程中各种问题求解的要求。同时结合实例运用MATLAB仿真计算,直观真实地反映柔性从动杆与刚性构件的动力学特性,验证了所建模型的有效性。
In the field of dynamics study for parallel mechanism,the conventionalresearch on multi-body system dynamics is mainly in the field of multi-rigid-body,the impact of the system on account of the components elastic deformation is usually ignored,and it is difficult to guarantee the accuracy of the research result. The research on rigid-flexible coupling system of micro/nano 3-PRR flexible parallel mechanism was done based on multi-body dynamics theory in this paper,the effect of rigid-flexible coupling characteristics of flexible linkson mechanism motion is analyzed. Based on the Euler-Bernoulli beam theory and Assumed Mode Method（AMM）,the flexible deformation on the links of the branched chain is analyzed,and the Lagrange multiplier method is applied to deduce the dynamic equations of the system. Not only the demand of accuracy but also the requirements of various problems solving in engineering can be satisfied. Combining with the instance,the dynamics of an example is calculated by using MATLAB simulation to prove the validity of the model and intuitively reflect the real dynamic characteristics of flexible links.
作者
朱春霞
闫志标
王静
邵永
ZHU Chun-xia;YAN Zhi-biao;WANG Jing;SHAO Yong(Shenyang Jianzhu University,School of Mechanical Engineering,Liaoning Shenyang 110168,China)
出处
《机械设计与制造》
北大核心
2018年第5期211-213,217,共4页
Machinery Design & Manufacture
基金
国家自然科学基金(51575365
51105258)
辽宁省自然科学基金(2015020127)
辽宁省教育厅高等学校优秀人才支持计划(LJQ2014061)
住建部项目(2014-K3-012)
沈阳建筑大学涵育计划(XKHY2-31)
关键词
并联机构
动力学分析
刚柔耦合特性
假设模态
Parallel Mechanism
Dynamics Analysis
Rigid-Flexible Coupling Characteristics
Assumed Mode Method（AMM）
