一種并聯動力頭靜柔度精確預估方法與靈敏度分析
發(fā)布時間：2019-04-20 09:39
【摘要】：以一種1T2R,3自由度并聯動力頭——A3頭為對象,研究其靜柔度半解析精細建模與預估方法。該方法在建立系統(tǒng)靜柔度模型的基礎上,將支鏈體分解為若干子部件,建立這些子部件在各自局部坐標系中定義的柔度系數與界面柔度系數的映射模型,提出一種采用分層遞階格式精確計算出各零部件柔度系數的策略,進而有效地提高了整機全域靜柔度預估的效率與精度。在試驗驗證該方法正確性的基礎上,采用靈敏度分析揭示出各部件彈性對動平臺參考點柔度的影響。結果表明,移動副沿約束方向的抗彎剛度及球鉸鏈沿驅動(約束)的抗拉壓(彎曲)剛度是影響整機剛度的主要薄弱環(huán)節(jié),進而為該類裝備的改進與優(yōu)化設計提供了依據。
[Abstract]:The static flexibility semi-analytical precision modeling and prediction method of a 1T2R, 3-DOF and linkage force head, A3 head, is studied in this paper. Based on the static flexibility model of the system, the chain body is decomposed into several sub-components, and the mapping models of the flexibility coefficient and the interface flexibility coefficient defined by these sub-components in the local coordinate system are established. This paper presents a strategy to calculate the flexibility coefficients of parts and components accurately by using hierarchical scheme, which effectively improves the efficiency and accuracy of the global static flexibility prediction of the whole machine. On the basis of the correctness of the proposed method, the sensitivity analysis is used to reveal the influence of the elasticity of each component on the flexibility of the reference point of the moving platform. The results show that the bending stiffness of the moving joint along the constrained direction and the tensile (bending) stiffness of the ball hinge along the drive (constraint) are the main weak links affecting the stiffness of the whole machine, thus providing the basis for the improvement and optimal design of this kind of equipment.
【作者單位】： 天津大學機構理論與裝備設計教育部重點實驗室;
【基金】：國家自然科學基金資助項目(51135008)
【分類號】：TH112
本文編號：2461492
[Abstract]:The static flexibility semi-analytical precision modeling and prediction method of a 1T2R, 3-DOF and linkage force head, A3 head, is studied in this paper. Based on the static flexibility model of the system, the chain body is decomposed into several sub-components, and the mapping models of the flexibility coefficient and the interface flexibility coefficient defined by these sub-components in the local coordinate system are established. This paper presents a strategy to calculate the flexibility coefficients of parts and components accurately by using hierarchical scheme, which effectively improves the efficiency and accuracy of the global static flexibility prediction of the whole machine. On the basis of the correctness of the proposed method, the sensitivity analysis is used to reveal the influence of the elasticity of each component on the flexibility of the reference point of the moving platform. The results show that the bending stiffness of the moving joint along the constrained direction and the tensile (bending) stiffness of the ball hinge along the drive (constraint) are the main weak links affecting the stiffness of the whole machine, thus providing the basis for the improvement and optimal design of this kind of equipment.
【作者單位】： 天津大學機構理論與裝備設計教育部重點實驗室;
【基金】：國家自然科學基金資助項目(51135008)
【分類號】：TH112
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