摘要
提出了一种新型两转一移3自由度并联运动模拟器,该运动模拟器能够完成升降、侧倾、俯仰3种运动,可以用来模拟飞行器、船舶、驾驶场景或应用在动感座椅等其他民用娱乐设备上。基于螺旋理论,分析了该机构的自由度,求解了该并联机构的运动学正反解;对工作空间和奇异位形进行了分析;利用Solid Works和Recurdyn联合仿真,建立虚拟样机模型,验证了该机构是一个完全对称的空间3自由度并联机构,自由度与螺旋理论运动分析一致,对运动性能进行仿真分析,经验证满足设计指标,为后期样机的加工、控制奠定了基础。
In this article,a novel 3-DOF parallel motion simulator with two rotational and one translational motion is developed.The simulator can complete three kinds of motion:lift,roll and pitch.It can be used to simulate aircraft,ships,driving scenes or other civil entertainment equipment,such as dynamic simulation seating chairs,and so on.Based on the screw theory,the analysis is conducted on the mechanism’s degree of freedom,and the forward and inverse kinematic solutions of the parallel motion simulator are identified.The analysis is carried out on the workspace and singular configuration.Besides,the 3 D model of the simulation platform is set up by the Solid Works software,and then it is imported into Recurdyn and the virtual prototype is worked out,which has verified that the mechanism is a completely symmetrical parallel mechanism with 3-DOF in space.The DOF is coincident with the kinematic analysis of the screw theory.The simulation analysis on the mechanism’s motion performance proves to meet the design index,which lays a solid foundation for the prototype’s processing and control in the future.
作者
宋井科
赵坤
严文江
谢忠奇
王欢
陈子明
SONG Jing-ke;ZHAO Kun;YAN Wen-jiang;XIE Zhong-qi;WANG Huan;CHEN Zi-ming(Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System,Yanshan University,Qinhuangdao 066004;School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004)
出处
《机械设计》
CSCD
北大核心
2021年第4期44-50,共7页
Journal of Machine Design
基金
国家自然科学基金面上项目(51775474)
国家自然科学基金青年基金(51305381)。
