一种复合驱动并联机构刚度分析
Stiffness Analysis of the Parallel Manipulator with a Compound Drive Branch
张灿果 1倪笑宇 1王永立 2安兆杰1
作者信息
- 1. 河北建筑工程学院机械工程学院,河北 张家口 075024
- 2. 湖州师范学院工学院,浙江 湖州 313000
- 折叠
摘要
针对直升机旋翼支撑平台,设计了一种复合驱动四自由度并联机构,利用复合驱动分支增大了并联机构工作空间.推导了并联机构中各驱动分支和动平台之间的运动关系式,考虑约束力、驱动力和驱动力矩综合作用下复合驱动分支的横向变形、轴向变形和扭转变形,结合机构的运动学方程推导了复合驱动并联机构的刚度矩阵.利用有限元软件验证了并联机构整体刚度矩阵的正确性.仿真结果表明该并联机构的刚度满足使用需要,为含复合驱动并联机构的应用和推广奠定了理论基础.
Abstract
A novel 4-DOF parallel manipulator with a compound drive branch is designed for supporting helicopter rotor.The workspace of the parallel manipulator is increased by the compound drive branch.The kinematic relationship between the driving branches and the moving platform is deduced.The formulas for solving the longitudinal elastic deformation,the transverse elastic deformation and the elastic rotational deformation are derived for the compound drive branch and the formulas for solving the stiffness matrix of the mechanism are derived.Finally,the correctness of the stiffness matrix of the mechanism is verified by finite element method.The simulation results show that the stiffness of the mechanism satisfies the actual needs,that provide the theoret-ical and technical foundations for its application.
关键词
并联机构/复合驱动/刚度矩阵/有限元Key words
Parallel Manipulator/Compound Drive Branch/Stiffness Matrix/Finite Element引用本文复制引用
基金项目
河北省自然基金资助项目(E2018404044)
河北省高等学校基本科研业务费项目(2022CXTD05)
河北省教育厅青年基金(QN2021051)
出版年
2024
NETL
NSTL
万方数据