摘要
由于3UPS-RPR并联机构中间是一条RPR摆动支链,存在较大的工作空间与机构体积比,为了提高其力学灵敏度,进而提高其工作精度,对其进行静力学研究.采用闭环矢量法建立了该机构的逆位置模型,得到了逆位置解析解;在此基础上,运用反螺旋方法求得了该机构的完整雅可比矩阵;由虚功原理得到机构的输入与输出之间完整的力映射模型,建立静力学评价指标;最后,对力传递性能进行仿真,综合评估,得到机构优选的静动平台半径比λ在3~5之间,末端位姿参数α范围-0.5~0.5 rad,为机构后续静刚度分析和尺度综合奠定了基础.
3UPS-RPR parallel mechanism has a RPR wobbling chain,and it has larger workspace and the volume ratio.In order to improve its mechanical sensitivity to achieve high working accuracy,so 3UPS-RPR parallel mechanism is studied on the static analysis.The inverse position model is established with the close-loop vector and the inverse position analysis of the parallel mechanism is gotten.Base on these,the global Jacobian matrix of the parallel mechanism is established by applying the inverse screw.The force-mapping model between the input and the output is obtained according to the principle of virtual work.Then,the statics index is founded.At last,the force transfer property is simulated and overall results are obtained that the optimal radius ratioλof static and dynamic platform is from 3 to 5 and the scope of the parameterαof end position from-0.5 to 0.5 rad.The study paves the way for the subsequent static stiffness analysis and dimensional synthesis.
作者
冯志友
倪迎真
贠今天
FENG Zhi-you;NI Ying-zhen;YUN Jin-tian(Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology,Tianjin Polytechnic University,Tianjin 300387,China)
出处
《天津工业大学学报》
CAS
北大核心
2018年第5期83-88,共6页
Journal of Tiangong University
基金
天津市自然科学基金资助项目(16JCYBJC18400)
关键词
并联机构
静力学分析
雅可比矩阵
螺旋理论
力映射模型
仿真
parallel mechanism
statics analysis
Jacobian matrix
screw theory
force-mapping model
simulation
