陈修龙,王 涛,梁小夏,王 清.空间4-UPS/RPS并联机构动态静力分析[J].农业机械学报,2016,47(7):398-406.
Chen Xiulong,Wang Tao,Liang Xiaoxia,Wang Qing.Kinetostatics Analysis of Spatial 4-UPS/RPS Parallel Mechanism[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(7):398-406.
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空间4-UPS/RPS并联机构动态静力分析   [下载全文]
Kinetostatics Analysis of Spatial 4-UPS/RPS Parallel Mechanism   [Download Pdf][in English]
投稿时间:2015-11-16  
DOI:10.6041/j.issn.1000-1298.2016.07.054
中文关键词:  并联机构  受力分析  动态静力学模型  达朗贝尔原理
基金项目:国家自然科学基金项目(51005138)、山东省优秀中青年科学家科研奖励基金项目(BS2012ZZ008)、山东省泰山学者建设工程专项(tshw20130956)和山东科技大学杰出青年基金项目(2011KYJQ102)
作者单位
陈修龙 山东科技大学 
王 涛 山东科技大学 
梁小夏 伦敦南岸大学 
王 清 山东科技大学 
中文摘要:为了对空间4-UPS-RPS五自由度并联机构进行受力分析,采用达朗贝尔原理建立了并联机构的动态静力学方程,进而对机构受力情况进行了分析。首先,推导出了4-UPS-RPS并联机构的位置反解、速度反解和加速度反解的表达式;然后,应用达朗贝尔原理建立了4-UPS-RPS并联机构的动态静力学方程,导出了机构中5个驱动力;最后,分别利用Matlab理论计算与ADAMS虚拟样机仿真得到机构驱动杆的驱动力和动平台上球面副约束反力的变化曲线,验证了所建动态静力学模型的正确性。研究不仅为4-UPS-RPS并联机构驱动力和运动副反力的求解和结构设计提供了理论依据,也为其他空间并联机构的受力分析提供了可行的方法。
Chen Xiulong  Wang Tao  Liang Xiaoxia  Wang Qing
Shandong University of Science and Technology,Shandong University of Science and Technology,London South Bank University and Shandong University of Science and Technology
Key Words:parallel mechanism  force analysis  kinetostatics model  d’ Alembert principle
Abstract:In order to realize kinetostatics analysis of spatial 4-UPS-RPS 5 DOF parallel mechanism, the expression of kinetostatics was derived by d Alembert principle, and the force state of mechanism was analyzed. Firstly, the model of inverse displacement, inverse velocity and inverse acceleration of 4-UPS-RPS parallel mechanism were educed. And then, the kinetostatics model of 4-UPS-RPS 5 DOF parallel mechanism was established by the d’ Alembert principle, the expression of driving force and constraining force were deduced. Finally, combined with examples, the driving force of driving limbs and constraining force of spherical hinge on moving platform were carried out by numerical calculation and virtual simulation, separately. The results of force analysis shows that the driving force of driving limbs and constraining force of spherical hinge on moving platform are varied with the position and posture of 4-UPS-RPS 5 DOF parallel mechanism, and the force value obtained by numerical calculation and by virtual simulation are basically the same. So far the numerical verification and virtual simulation verification of the kinetostatics analysis results are realized. The research can not only provide theoretical basis for solution of driving force, constraining force and structure design of 4-UPS-RPS parallel mechanism, but also suggest a way of thinking about force analysis for other spatial parallel mechanism.

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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