耿明超,赵铁石,杨建涛,边辉,赵延治.平面弹性欠驱动并联机构刚度特性分析[J].农业机械学报,2015,46(5):365-371.
Geng Mingchao,Zhao Tieshi,Yang Jiantao,Bian Hui,Zhao Yanzhi.Stiffness Characteristics of Planar Elastic Underactuated Parallel Mechanism[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(5):365-371.
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平面弹性欠驱动并联机构刚度特性分析   [下载全文]
Stiffness Characteristics of Planar Elastic Underactuated Parallel Mechanism   [Download Pdf][in English]
投稿时间:2014-08-21  
DOI:10.6041/j.issn.1000-1298.2015.05.051
中文关键词:  并联机构  欠驱动  螺旋圆弹簧  方向刚度模型
基金项目:国家自然科学基金资助项目(51375420、51305380)和河北省自然科学基金资助项目(E2014203176)
作者单位
耿明超 燕山大学 
赵铁石 燕山大学 
杨建涛 燕山大学 
边辉 燕山大学 
赵延治 燕山大学 
中文摘要:根据多维运动模拟的需求,提出一种包含螺旋圆弹簧(圆柱形螺旋弹簧)的欠驱动运动模拟台。利用螺旋圆弹簧的轴向和横向刚度约束运动模拟台的工作空间,通过两个驱动分支和动力耦合实现其3个自由度的运动。将螺旋圆弹簧等效为Re/Pe/Re弹性运动支链,进而将并联运动模拟台等效为2RPR/2RePeRe弹性欠驱动机构,并利用Grassmann线几何分析该机构的输入选取原则。基于旋量及其迁移公式,建立等效机构的运动学模型。借助于影响系数和虚功原理,对该弹性欠驱动机构进行静力学分析,得到其静力学约束方程。最后,建立了该机构的连续非线性柔度模型,并以此为基础得到其方向刚度模型。
Geng Mingchao  Zhao Tieshi  Yang Jiantao  Bian Hui  Zhao Yanzhi
Yanshan University,Yanshan University,Yanshan University,Yanshan University and Yanshan University
Key Words:Parallel mechanism  Underactuated  Cylindrical helical spring  Direction stiffness model
Abstract:According to the demand of multi-dimensional motion simulation, a class of planar underactuated simulator with cylindrical helical springs was put forward. The workspace of the proposed simulator was restricted by the axial and lateral stiffness of cylindrical helical spring, and 3-DOF of the proposed simulator was driven by only two drive limbs and dynamic coupling effects. The cylindrical helical springs could be seen as an elastic limb Re/Pe/Re, so the simulator can be transformed to an elastic underactuated mechanism, 2RPR/2Re/Pe/Re. The input selection of equivalent mechanism was analyzed by using Grassmann geometry. Based on screws, the kinematics of equivalent mechanism was given. The kinematics can be represented to any frame easily by using the shifting property of the screws. Referring to the influence coefficient and virtual work principles, the statics analysis was performed, and the statics constraint equation was gotten. Finally, the continuous nonlinear compliance model of the mechanism was established, and based on this, the direction stiffness was given.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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