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基于虛關節(jié)法的3T1R混聯(lián)機構靜剛度特性分析
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國家自然科學基金項目(51975062、51475050)


Static Stiffness Analysis of 3T1R Hybrid Manipulator Based on Virtual Joint Method
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    摘要:

    基于虛關節(jié)法和構件有限元分析建立了考慮驅動副,、滾珠絲桿副,、線性導軌和運動桿件彈性變形的3T1R混聯(lián)機構靜剛度矩陣模型。通過在構件末端添加多自由度虛擬關節(jié)的方式來等效構件的彈性,,將支鏈等效為一系列剛性構件,,通過主動副、被動副以及虛擬關節(jié)連接的形式,,給出了運動關節(jié)和虛擬關節(jié)變量對機構末端位姿的映射,,應用虛功原理得到機構靜平衡方程,推導了機構在一定外載下的剛度矩陣模型,,采用無量綱變換法定義了局部線剛度和角剛度評價指標與全局線剛度和角剛度評價指標,,據(jù)此分析了混聯(lián)機構在典型位姿和工作空間域內(nèi)的靜剛度性能,并利用有限元仿真驗證了剛度模型的準確性,。結果表明,,所建半解析剛度模型具有較高的精度;機構z向線剛度在工作空間內(nèi)關于x=y軸線對稱分布,;機構x向,、y向的線剛度沿x軸、y軸方向不變,,具有解耦性,;機構線剛度遠大于角剛度。

    Abstract:

    Based on the virtual joint method, the static stiffness matrix model of a 3T1R hybrid manipulator was established considering the elastic deformation of driving joints, ball screw pair, linear guide rail and moving bar. The elasticity deformation of the component was described as one multi-degree of freedom virtual joint at the end of the component, and the branch was then equivalent to a series of rigid components connected by active joint, passive joints and virtual joints. The mapping of kinematic joint and virtual joint variables to the end platform of the mechanism was given. The static equilibrium equation of the manipulator was obtained by using the virtual work principle, and the stiffness matrix model of the manipulator under external load was derived. The evaluation indices of local linear/angular stiffness and global linear/angular stiffness were defined by the dimensionless transformation method, and the static stiffness performance of the hybrid manipulator at the typical configurations as well as throughout the workspace was analyzed accordingly, and the accuracy of the stiffness model was verified by finite element simulation. The results showed that the semi-analytical stiffness model had good accuracy. The z-direction linear stiffness of the mechanism was symmetrically distributed in the workspace. The linear stiffness of the mechanism in the x(y)-direction was decoupled. Linear stiffness of mechanism was much larger than angular stiffness. The research results can provide a theoretical basis for the engineering design and application of the institute.

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朱小蓉,吳俁,沈惠平.基于虛關節(jié)法的3T1R混聯(lián)機構靜剛度特性分析[J].農(nóng)業(yè)機械學報,2021,52(9):400-409. ZHU Xiaorong, WU Yu, SHEN Huiping. Static Stiffness Analysis of 3T1R Hybrid Manipulator Based on Virtual Joint Method[J]. Transactions of the Chinese Society for Agricultural Machinery,2021,52(9):400-409.

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  • 收稿日期:2020-09-18
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  • 在線發(fā)布日期: 2021-09-10
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