朱伟,郭倩,马致远,沈惠平,吴广磊.SCARA并联机构刚度和动力学分析[J].农业机械学报,2019,50(10):375-385.
ZHU Wei,GUO Qian,MA Zhiyuan,SHEN Huiping,WU Guanglei.Stiffness and Dynamics Analysis of SCARA Parallel Mechanism[J].Transactions of the Chinese Society for Agricultural Machinery,2019,50(10):375-385.
摘要点击次数: 1800
全文下载次数: 924
SCARA并联机构刚度和动力学分析   [下载全文]
Stiffness and Dynamics Analysis of SCARA Parallel Mechanism   [Download Pdf][in English]
投稿时间:2019-03-02  
DOI:10.6041/j.issn.1000-1298.2019.10.044
中文关键词:  SCARA并联机构  虚拟弹簧  刚度  动力学
基金项目:江苏省自然科学基金项目(BK20161192)
作者单位
朱伟 常州大学 
郭倩 常州大学 
马致远 常州大学 
沈惠平 常州大学 
吴广磊 大连理工大学 
中文摘要:阐述了一种由2条RSS支链和2条R(SRS)2R支链构成,可实现SCARA运动的新型四自由度高速并联机器人机构。首先,采用方位特征理论(POC)分析了该机构的拓扑结构特征,用矢量法求解了位置反解;其次,运用虚拟弹簧法建立了支链的刚度模型,并求解了支链的静力学方程;再次,利用旋量法得到支链中虚拟关节变形到末端变形的微分映射,从而求得机构的笛卡尔刚度矩阵,根据机构的转动和移动刚度性能指标,分别分析了机构在不同工作平面的刚度特性。最后,推导了机构的主动臂、从动臂和动平台速度、加速度方程,并运用虚功原理建立了机构的动力学模型,通过ADAMS三维模型仿真验证了动力学模型的正确性,为该机构的进一步研究及实际应用奠定了理论基础。
ZHU Wei  GUO Qian  MA Zhiyuan  SHEN Huiping  WU Guanglei
Changzhou University,Changzhou University,Changzhou University,Changzhou University and Dalian University of Technology
Key Words:SCARA parallel mechanism  virtual spring  stiffness  dynamics
Abstract:There is a wide range of industrial applications for the 4 DOF parallel mechanism which can achieve SCARA type output motion (three dimensional translation and one dimensional rotation). A novel four degree of freedom high speed parallel robot mechanism for SCARA was proposed, which consisted of two RSS branches and two R(SRS)2R branches. Firstly, the topological structure characteristics such as the POC set of moving platform and mobility were first obtained based on the design theory of position and orientation characteristic (POC) set. Secondly, the virtual spring method was used to establish the stiffness model of the branch and the static of the branch was given. The differential mapping of the virtual joint deformation to the end deformation in the branch was obtained by the spin method and the Cartesian stiffness matrix at the end of the mechanism was obtained according to the static equation. By means of a nondimensionalization of the stiffness matrix, the 6×6 inhomogeneous stiffness matrix was decomposed into two homogeneous sub matrices, of which two performance indices, corresponding to the translational and rotational stiffnesses, were defined to evaluate the stiffness behaviors of the manipulators. And the stiffness index analysis of the mechanism was carried out, and the stiffness characteristics of the mechanism in different working planes were analyzed. In addition, the dynamic analysis of the mechanism was performed to solve the velocity and acceleration of the active pair, the passive pair and the moving platform of the mechanism. The dynamic equation of the mechanism was established by using the virtual work principle. Finally, the simulation was compared with the ADAMS three dimensional model simulation to verify the dynamics. The correctness of the modeling laid the foundation for further research and practical application of the organization.

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.

   下载PDF阅读器