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6—PSS柔性并聯(lián)機(jī)器人動(dòng)力學(xué)分析與仿真
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國(guó)家國(guó)防基礎(chǔ)研究項(xiàng)目（JW20*2009035）


Dynamics Analysis and Simulation of 6—PSS Flexible Parallel Robot
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    摘要:

    為了提高風(fēng)洞試驗(yàn)的安全性，對(duì)風(fēng)洞試驗(yàn)用6—PSS并聯(lián)機(jī)構(gòu)進(jìn)行柔性動(dòng)力學(xué)分析,。首先,，對(duì)機(jī)構(gòu)進(jìn)行運(yùn)動(dòng)學(xué)分析,，得到機(jī)構(gòu)的運(yùn)動(dòng)學(xué)逆解，利用一階影響系數(shù)法,，推導(dǎo)出機(jī)構(gòu)雅可比矩陣。其次,，在拉格朗日方程基礎(chǔ)上,，采用一種合理簡(jiǎn)化模型動(dòng)力學(xué)建模方法,，給出機(jī)構(gòu)動(dòng)力學(xué)方程。提出一種簡(jiǎn)單實(shí)用的柔性動(dòng)力學(xué)建模方法,，運(yùn)用ADAMS軟件建立機(jī)構(gòu)的柔性動(dòng)力學(xué)模型,，進(jìn)行并聯(lián)機(jī)構(gòu)的柔性動(dòng)力學(xué)仿真。對(duì)比剛體動(dòng)力學(xué)和柔性動(dòng)力學(xué)曲線,，驗(yàn)證了柔性動(dòng)力學(xué)仿真的正確性,。最后，分析柔性動(dòng)力學(xué)中驅(qū)動(dòng)力和柔性變形等數(shù)據(jù)曲線,，總結(jié)出并聯(lián)機(jī)構(gòu)柔性狀態(tài)下動(dòng)力學(xué)特征,。

    Abstract:

    In order to improve the safety of the wind tunnel test, the flexible dynamics of a 6—PSS parallel mechanism for the wind tunnel was analyzed. At first, inverse kinematics of the parallel mechanism was received based on the analysis of its kinematics, and Jacobian matrix was calculated by using the first-order influence coefficient method. Then, the dynamics equation was solved by using the Lagrange equations and a simplified rational dynamics method. A simple and practical method of flexible dynamic simulation was put forward. The flexible dynamic simulation of the parallel was obtained with ADAMS software. The correctness of flexible dynamics simulation was verified by comparing the kinetics and dynamics date form rigid and flexible analysis. At last, the character of flexible kinetics was summed up by analyzing the driven force and flexible deformation data.

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孫小勇,謝志江,蹇開(kāi)林,張鈞.6—PSS柔性并聯(lián)機(jī)器人動(dòng)力學(xué)分析與仿真[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2012,43(7):194-199,205. Sun Xiaoyong, Xie Zhijiang, Jian Kailin, Zhang Jun. Dynamics Analysis and Simulation of 6—PSS Flexible Parallel Robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(7):194-199,205.

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  • 在線發(fā)布日期: 2012-07-02
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