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重載并聯(lián)運動模擬臺機構(gòu)動力特性分析
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國家自然科學(xué)基金資助項目（50975244,、51105322）


Analysis on Dynamics Characteristic of Heavy-load Parallel Motion Simulation Platform Mechanism
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    摘要:

    提出一種適用于重載的6UPS-3UPS/UPU-R并聯(lián)運動模擬臺機構(gòu)。采用電液混合的驅(qū)動方式,，該機構(gòu)具有平衡負載重力的特點。對機構(gòu)進行了動力學(xué)分析，得到了平衡平臺對運動平臺的作用力和電機扭矩計算表達式,。提出了平衡效率指標(biāo),，并研究了平衡分支相關(guān)參數(shù)對平衡效率的影響,。分析了液壓缸對運動平臺受力和電動缸驅(qū)動力的作用,。數(shù)值分析表明,，平衡液壓缸的存在能夠有效降低電機扭矩，該并聯(lián)運動模擬臺機構(gòu)能夠以較低的制造成本滿足高精度,、重載的應(yīng)用需求,。

    Abstract:

    A 6UPS-3UPS/UPU-R parallel motion simulation platform mechanism with the capacity to carry heavy load was presented. Driven by electro-hydraulic hybrid, the mechanism could compensate the gravity of the load. Calculation formulas of the force acting on moving platform exerted by the balance platform and the motor torque were obtained by analyzing the dynamics of the mechanism. The balance efficiency was presented, and then the influence of relevant parameters of the balance branches on balance efficiency was researched. The effects of hydraulic cylinders on the force of moving platform and the drive of electric cylinders were got. The numerical analysis indicates that the balance hydraulic cylinder can decrease the motor torque effectively, and the parallel motion simulation platform mechanism can satisfy the application requirements of high precision and heavy load with low manufacturing cost.

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苑飛虎,趙鐵石,邊 輝,劉 曉.重載并聯(lián)運動模擬臺機構(gòu)動力特性分析[J].農(nóng)業(yè)機械學(xué)報,2014,45(9):311-317. Yuan Feihu, Zhao Tieshi, Bian Hui, Liu Xiao. Analysis on Dynamics Characteristic of Heavy-load Parallel Motion Simulation Platform Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2014,45(9):311-317.

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  • 收稿日期:2013-08-13
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  • 在線發(fā)布日期: 2014-09-10
  • 出版日期: 2014-09-10
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