汪满新,谌秋生,祖 莉,刘海涛.计及重力的3-R[TXX-]RS并联机构静刚度分析[J].农业机械学报,2018,49(11):392-402.
WANG Manxin,CHEN Qiusheng,ZU Li,LIU Haitao.Stiffness Analysis of 3-R[TXX-]RS Parallel Mechanism with Consideration of Gravity[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(11):392-402.
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计及重力的3-R[TXX-]RS并联机构静刚度分析   [下载全文]
Stiffness Analysis of 3-R[TXX-]RS Parallel Mechanism with Consideration of Gravity   [Download Pdf][in English]
投稿时间:2018-06-13  
DOI:10.6041/j.issn.1000-1298.2018.11.048
中文关键词:  静刚度分析  并联机构  重力影响
基金项目:国家自然科学基金项目(51605225)、机械系统与振动国家重点实验室项目(MSV201812)和中央高校基本科研业务费专项资金项目(309171B8808、30915118830)
作者单位
汪满新 南京理工大学 
谌秋生 南京理工大学 
祖 莉 南京理工大学 
刘海涛 天津大学 
中文摘要:研究重力场作用下3-R[TXX-]RS并联机构半解析静刚度建模方法。建模中同时考虑运动部件重力和末端外载荷对关节反力的影响,以及支链分布重力和所有构件/铰链弹性对关节变形的影响,并基于各部件在关节空间中的刚度模型建立机构末端静刚度模型。通过算例得到3-R[TXX-]RS并联机构末端静刚度和重力引起的末端变形在工作空间的分布规律;通过研究各构件刚度和重力分别对末端静刚度和变形的影响,得出为实现轻质高刚的结构设计应从球副和转动副刚度相匹配、主动臂和从动臂的驱动和约束刚度相匹配以及动平台轻量化设计等方面入手。
WANG Manxin  CHEN Qiusheng  ZU Li  LIU Haitao
Nanjing University of Science and Technology,Nanjing University of Science and Technology,Nanjing University of Science and Technology and Tianjin University
Key Words:stiffness analysis  parallel mechanism  gravitational effect
Abstract:Stiffness is one of the most important performance factors that should be considered for parallel mechanism. A semi analytical approach for the stiffness analysis of a 3-R[TXX-]RS parallel mechanism was presented with consideration of gravity. The force analysis was carried out by taking both gravity of all moving components and the externally applied wrench imposed upon the platform into account. The deflection analysis that considered the distributed gravity of all limbs and joint/link compliances was investigated. On the basis of the formulation of component stiffness matrices in the joint space, the stiffness model of the parallel mechanism was achieved. Based on a numerical example, the stiffness distributions and deflection distributions induced by gravity throughout the entire task workspace were evaluated, and the contributions of the component stiffness to the global stiffness and the contributions of the components gravity to platform deflection were investigated. Meanwhile, the effectiveness of the proposed modeling approach was verified by the FEA software at a typical configuration. Numerical example showed that in order to make the parallel mechanism with lightweight yet rigid design, the rigidities of different components, as well as the actuated and constraint rigidities of each component should be matched each other. For the considered 3-R[TXX-]RS parallel mechanism, the rigidity of the spherical joint should be improved while the rigidity of the revolute joint should be reduced, the actuated rigidity of the limb should be enhanced while the constraint rigidities of that should be reduced.

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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