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3-RRPaR并聯(lián)機(jī)構(gòu)剛體動力學(xué)建模與分析
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山東省重點研發(fā)計劃（公益類）科技攻關(guān)項目(2019GGX104011)


Rigid Body Dynamics Modeling and Analysis of 3-RRPaR Parallel Mechanism
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    摘要:

    針對一種具有冗余結(jié)構(gòu)的3RRPaR并聯(lián)機(jī)構(gòu),，根據(jù)拉格朗日乘子法建立動力學(xué)模型,，進(jìn)而對冗余并聯(lián)機(jī)構(gòu)進(jìn)行動力學(xué)分析,。首先,，分析了3RRPaR并聯(lián)機(jī)構(gòu)的結(jié)構(gòu)特征，確定了冗余結(jié)構(gòu)的結(jié)構(gòu)構(gòu)型,；然后,，利用閉環(huán)矢量法建立并聯(lián)機(jī)構(gòu)的逆運(yùn)動學(xué)模型，利用拉格朗日乘子法建立并聯(lián)機(jī)構(gòu)的動力學(xué)模型,；最后,，利用Matlab分別對并聯(lián)機(jī)構(gòu)空載和加載時的動力學(xué)方程進(jìn)行數(shù)值求解,，繪制了動力學(xué)響應(yīng)曲線,，根據(jù)拉格朗日乘子與約束力矩的關(guān)系求解出驅(qū)動桿的驅(qū)動力矩，將計算結(jié)果與ADAMS虛擬仿真結(jié)果進(jìn)行對比分析,，驗證了動力學(xué)建模方法的正確性,。結(jié)果表明，動平臺加載后,，驅(qū)動桿的驅(qū)動力矩也隨之增大,，但其數(shù)值變化規(guī)律與空載時基本相同。本研究為該并聯(lián)機(jī)構(gòu)的動力學(xué)控制和機(jī)構(gòu)性能研究奠定了基礎(chǔ),，也為其他結(jié)構(gòu)冗余并聯(lián)機(jī)構(gòu)的剛體動力學(xué)建模提供了方法和思路,。

    Abstract:

    Parallel mechanism with its advantages of high stiffness, high bearing capacity and high precision fills the shortcomings of the series mechanism. For a 3RRPaR parallel mechanism with redundant structure, a dynamic model was established based on Lagrange multiplier method, and then the dynamic analysis of the redundant parallel mechanism was carried out. Firstly, the structural characteristics of 3RRPaR parallel mechanism were analyzed, and the redundant structure was determined. Then the inverse kinematics model of the parallel mechanism was established by closedloop vector method, and the dynamic model of the parallel mechanism was established by Lagrange multiplier method. Finally, the dynamic equations of the parallel mechanism under noload and loading were solved by Matlab, and the dynamic response curves were drawn. The driving moment of the driving rod was calculated according to the relationship between the Lagrange multiplier and the constraint moment. The comparison between the calculation results and the ADAMS virtual simulation results verified the correctness of the dynamic modeling method. The results showed that the driving torque of the driving rod was increased with the loading of the moving platform, but the numerical variation law was basically the same as that of noload. The research laid a foundation for the dynamic control and mechanism performance research of the parallel mechanism, and also provided a method and idea for the rigid body dynamic modeling of other redundant parallel mechanisms. 

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陳修龍,郭景堯,賈永皓.3-RRPaR并聯(lián)機(jī)構(gòu)剛體動力學(xué)建模與分析[J].農(nóng)業(yè)機(jī)械學(xué)報,2020,51(6):404-411. CHEN Xiulong, GUO Jingyao, JIA Yonghao. Rigid Body Dynamics Modeling and Analysis of 3-RRPaR Parallel Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2020,51(6):404-411.

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  • 收稿日期:2020-03-21
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  • 在線發(fā)布日期: 2020-06-10
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