该文以应用于高速、高加速混联加工装备中的一种3-PRRU空间3自由度并联机构为研究对象，研究其动力学建模及动力学各向同性评价方法。基于虚功原理，建立了3-PRRU并联机构的动力学模型，并从动能角度出发，提出了两个评价机构各向同性性能的指标。针对该指标，提出了一种5维图像描述方法，并对3-PRRU并联机构进行各向同性性能评价。该动力学各向同性评价指标具有量纲统一、物理意义明确的优点，可以更准确地对并联机构的动力学性能分布进行表征。
Abstract
Dynamic modeling was used to evaluate a 3-PRRU parallel manipulator in a high-speed hybrid machine tool. The virtual work principle was used to develop the dynamic model of the 3-PRRU parallel mechanism with two new indices defined to evaluate the isotropy of dynamics from a kinetic energy viewpoint. The indices were then used in an atlas method for a five dimensions image. The results show that these indices accurately describe the isotropic performance of the 3-PRRU parallel manipulator. The two indices have uniform dimensions, clear physical meaning, and can accurately describe the dynamics of parallel manipulators.
关键词
并联机构 /
动力学模型 /
性能评价 /
各向同性
Key words
parallel manipulator /
dynamic model /
performance evaluation /
isotropic
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
参考文献
[1] 汪劲松, 黄田. 并联机床:机床行业面临的机遇与挑战[J]. 中国机械工程, 1999(10):31-35. WANG Jinsong, HUANG Tian. Parallel machine tool:The opportunities and challenges of machine tool industry[J]. China Mechanical Engineering, 1999(10):31-35. (in Chinese) [2] Wang L P, Zhang B B, Wu J. Optimum design of a 4-PSS-PU redundant parallel manipulator based on kinematics and dynamics[J]. Proceedings of the Institution of Mechanical Engineers, Part C:Journal of Mechanical Engineering Science, 2016, 230(13):2273-2284. [3] Gosselin C, Angeles J. A global performance index for the kinematic optimization of robotic manipulators[J]. Journal of Mechanical Design, 1991, 113(3):220-226. [4] Gao F, Liu X J, Gruver W A. Performance evaluation of two-degree-of-freedom planar parallel robots[J]. Mechanism and Machine Theory, 1998, 33(6):661-668. [5] Huang T, Li Z X, Li M, et al. Conceptual design and dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations[J]. Journal of Mechanical Design, 2004, 126(3):449-455. [6] Hennes N. Ecospeed:An innovative machinery concept for high performance 5-axis machining of large structural components in aircraft engineering[C]//Proceedings of 3rd Chemnitz Parallel Kinematics Seminar. Zwickau, Germany, 2002:763-774. [7] Neumann K E. Tricept applications[C]//Proceeding of 3rd Chemnitz Parallel Kinematic Seminar. Zwickau, Germany, 2002:547-551. [8] Clavel R. A fast robot with parallel geometry[C]//Proc Int Symposium on Industrial Robots. Lausanne, Switzerland, 1988:91-100. [9] Asada H. A geometrical representation of manipulator dynamics and its application to arm design[J]. Journal of Dynamic Systems Measurement and Control, 1983, 105(3):131-142. [10] Wu J, Wang J S, Li T M, et al. Dynamic dexterity of a planar 2-DOF parallel manipulator in a hybrid machine tool[J]. Robotica, 2008, 26(1):93-98. [11] Wu J, Wang L P, You Z. A new method for optimum design of parallel manipulator based on kinematics and dynamics[J]. Nonlinear Dynamics, 2010, 61(4):717-727. [12] Bonev I A. Geometric Analysis of Parallel Mechanisms[D]. Québec, Canada:Université Laval, 2002:78-81.
PDF(1748 KB)
