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清华大学学报(自然科学版)  2017, Vol. 57 Issue (12): 1317-1323    DOI: 10.16511/j.cnki.qhdxxb.2017.25.062
  精密仪器与机械学 本期目录 | 过刊浏览 | 高级检索 |
3自由度并联主轴头的动力学建模及动态特性
于广1,2, 王立平1,2, 吴军1,2, 王冬1,2
1. 清华大学 机械工程系, 北京 100084;
2. 精密超精密制造装备及控制北京市重点实验室, 北京 100084
Dynamic model and dynamic characteristics of a 3-DOF spindle with a parallel linkage mechanism
YU Guang1,2, WANG Liping1,2, WU Jun1,2, WANG Dong1,2
1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;
2. Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipments and Control, Beijing 100084, China
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摘要 机床的动态特性可以衡量机床抵抗动载荷的能力,对机床切削性能有着重要影响。该文以一种具有平行四边形结构的3自由度并联主轴头为研究对象,研究其动力学建模方法及其分析动态特性。该主轴头运动学支链中的杆件具有变截面特点,基于有限元思想该文提出了一种求解变截面杆件质量矩阵的方法,并考虑铰链的影响,建立了铰链的质量矩阵,进一步推导了并联主轴头的动力学模型。基于动力学模型,研究了并联主轴头在工作空间内的固有频率分布规律及其振型。通过在并联主轴头样机上的实验,验证了动力学模型和动态特性分析的准确性和有效性,为并联主轴头的工程应用奠定了坚实基础。
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于广
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王冬
关键词 并联机构动力学模型质量矩阵固有频率    
Abstract:The dynamic characteristics of a machine tool are related to the ability of the tool to resist the dynamic loads which has an important influence on the machine tool cutting performance. This paper presents a model of the dynamic characteristics of a 3-DOF spindle with a parallel linkage mechanism. The valuable cross-section of the link in the spindle complicates an accurate defination of the mass matrix. This paper presents an approach to derive the mass matrix of a link with an arbitrarily shaped cross-section based on the finite-element method. The joint mass matrix is also considered in the model. The dynamic model is then used to investigate the natural frequencies and the vibration modes in the workspace. Tests on a prototype with the parallel linkage validate the model for accurate dynamic modeling of 3-DOF spindles with parallel linkages. This work is very useful for development of the 3-DOF spindle with parallel mechanism.
Key wordsparallel mechanism    dynamic model    mass matrix    natural frequency
收稿日期: 2017-04-29      出版日期: 2017-12-15
ZTFLH:  TP242.2  
通讯作者: 吴军,副教授,E-mail:jhwu@tsinghua.edu.cn     E-mail: jhwu@tsinghua.edu.cn
引用本文:   
于广, 王立平, 吴军, 王冬. 3自由度并联主轴头的动力学建模及动态特性[J]. 清华大学学报(自然科学版), 2017, 57(12): 1317-1323.
YU Guang, WANG Liping, WU Jun, WANG Dong. Dynamic model and dynamic characteristics of a 3-DOF spindle with a parallel linkage mechanism. Journal of Tsinghua University(Science and Technology), 2017, 57(12): 1317-1323.
链接本文:  
http://jst.tsinghuajournals.com/CN/10.16511/j.cnki.qhdxxb.2017.25.062  或          http://jst.tsinghuajournals.com/CN/Y2017/V57/I12/1317
  图1 五轴混联机床
  图2 并联主轴头
  图3 单一支链结构原理图
  图4 3 G P(4R)S的简化原理图
  表1 结构参数和结构件材料属性
  表2 转动副、 移动副、 丝杠和球铰刚度值
  图5 (网络版彩图)前三阶固有频率
  图6 模态实验测试
  表3 前三阶振型描述
  图7 实验测得并联主轴头前三阶振型
  表4 动平台在竖直面内不同倾斜角的固有频率对比
  表5 动平台在水平面内不同倾斜角的固有频率对比
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