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中南大学学报(自然科学版)

Journal of Central South University

第50卷    第1期    总第293期    2019年1月

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文章编号:1672-7207(2019)01-0067-08
基于冗余并联机构的高性能机床设计与分析
赵福群1,郭盛1,徐梓淳2,李典1

(1. 北京交通大学 机械与电子控制工程学院,北京,100044;
2. 北京航空航天大学 机械工程及自动化学院,北京,100191
)

摘 要: 为提高并联机构在局部精密加工时的调整姿态能力等运动性能,通过添加冗余驱动的方式,提出一种新型2RP(R)/S-2RPS结构冗余并联机构,并对机构进行解耦特性和位置逆解计算,利用约束杆长方程求导方法建立速度输入与输出方程及速度映射矩阵。根据解耦特性对机构伴随运动进行求解,对比冗余机构在相同约束下与非冗余机构的工作空间。利用雅可比矩阵,对机构静刚度和灵巧性运动性能进行分析,同时将上述机构性能与非冗余机构性能进行对比。研究结果表明:通过添加冗余驱动的方式使机构性能得到提升。以圆弧曲线为运动轨迹,对机构进行圆弧轨迹运动过程进行仿真,仿真结果证明该设计的可行性以及机构具有实现任务的能力。

 

关键字: 并联机床;结构冗余;运动学;性能评价;轨迹

Design and analysis of high performance machine tool based on redundant parallel mechanism
ZHAO Fuqun1, GUO Sheng1, XU Zichun2, LI Dian1

1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China;
2. School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics,
Beijing 100191, China

Abstract:To improve the performance such as adjusting orientation of parallel mechanism in local precision machining ability, a novel 2RP(R)/S-2RPS structural redundant parallel mechanism was proposed by adding redundant actuation method. The decoupling property and position solution were calculated for the mechanism. Based on the link constraint equation derivation method, the velocity input-output equation and velocity Jacobian matrix were obtained. The parasitic motion of the proposed mechanism was solved by decoupling property. The workspace comparison between the redundant mechanism and non-redundant mechanism under the same constraints was given. And the static stiffness and dexterity performance of the redundant mechanism were analyzed based on Jacobian matrix. The performance of the mechanism was compared with that of non-redundant mechanism. The results show that the performance of the mechanism is improved by adding redundant actuators. Taking circular curve as a trajectory, the simulation of the circular trajectory motion process of this mechanism is carried out. The simulation results verify the feasibility of this design and show the ability of the mechanism to realize implement motion.

 

Key words: parallel machine tool; structural redundancy; kinematics; performance evaluation; trajectory

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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