本文關(guān)鍵詞：考慮摩擦的含S副間隙6-SPS機(jī)構(gòu)動力學(xué)分析　出處：《華中科技大學(xué)學(xué)報(自然科學(xué)版)》2017年06期 　論文類型：期刊論文

  更多相關(guān)文章： 并聯(lián)機(jī)構(gòu) 動力學(xué) 拉格朗日方程 S副間隙 摩擦力矩

【摘要】：利用拉格朗日方程建立了理想并聯(lián)機(jī)構(gòu)的動力學(xué)方程,并利用連續(xù)接觸模型得到了含間隙S副6-SPS并聯(lián)機(jī)構(gòu)的動力學(xué)方程,該機(jī)構(gòu)動平臺上6個運(yùn)動副全部含有間隙.把動平臺S副間隙簡化為一個無質(zhì)量連桿,其長度用隨機(jī)函數(shù)表示,并在機(jī)構(gòu)間隙的變化速度與機(jī)構(gòu)運(yùn)動速度之間建立函數(shù)關(guān)系,用機(jī)構(gòu)運(yùn)動速度表示機(jī)構(gòu)間隙的變化速度.把動平臺上6個運(yùn)動副簡化為一個推力軸承,研究摩擦對機(jī)構(gòu)的影響,分析機(jī)構(gòu)所受到的摩擦力矩.通過求解機(jī)構(gòu)的動力學(xué)方程,得到機(jī)構(gòu)的動力學(xué)特性曲線.結(jié)果表明:機(jī)構(gòu)間隙和運(yùn)動副摩擦對動力學(xué)特性都有影響,計算油膜黏性摩擦力矩時引入隨機(jī)函數(shù),使運(yùn)動副球體的運(yùn)動更接近真實狀態(tài).
[Abstract]:The dynamic equation of ideal parallel mechanism is established by using Lagrange equation, and the dynamic equation of 6-SPS parallel mechanism with clearance is obtained by using continuous contact model. All the six pairs of motion on the moving platform of the mechanism contain clearance. The clearance of the S-pair of the moving platform is simplified as a massless connecting rod, and its length is expressed as a random function. A functional relationship is established between the change velocity of the mechanism clearance and the mechanism motion velocity. The change speed of the mechanism clearance is expressed by the mechanism motion velocity, and the six motion pairs on the moving platform are simplified as a thrust bearing. The effect of friction on the mechanism is studied, and the friction moment is analyzed. The dynamic equation of the mechanism is solved. The dynamic characteristic curve of the mechanism is obtained. The results show that the clearance of the mechanism and the friction of the moving pair have an effect on the dynamic characteristics. The random function is introduced to calculate the viscous friction moment of the oil film. Make the motion of the parabola closer to the real state.
【作者單位】： 西安郵電大學(xué)自動化學(xué)院;
【基金】：國家高技術(shù)研究發(fā)展計劃資助項目(2013AA014504) 陜西省教育廳科研計劃資助項目(16JK1692)
【分類號】：TH112;TP242
【正文快照】： 隨著我國工業(yè)4.0規(guī)劃的提出以及勞動力短缺問題的出現(xiàn),并聯(lián)機(jī)器人在解決上述問題以及在我國的產(chǎn)業(yè)升級和經(jīng)濟(jì)轉(zhuǎn)型中將發(fā)揮越來越大的作用.而并聯(lián)機(jī)構(gòu)是并聯(lián)機(jī)器人的核心要素,對產(chǎn)品創(chuàng)新而言,機(jī)構(gòu)的創(chuàng)新才是最本質(zhì)的創(chuàng)新. 隨著現(xiàn)代工業(yè)的發(fā)展,對設(shè)備的需求逐漸向高精度、大負(fù)

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1 金振林 ,高峰;6-SPS正交機(jī)構(gòu)的運(yùn)動學(xué)傳遞性分布研究[J];機(jī)械傳動;2001年03期

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本文編號：1433607