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一种新型SCARA并联机构的运动学、刚度及动力学分析
论文作者:童鞋论文网  论文来源:www.txlunwenw.com  发布时间:2019/9/26 10:24:42  

摘要:根据基于方位特征(POC)方程的并联机构拓扑结构设计理论与方法分析了一种新型SCARA并联机构2-(RPa3R)3R并联机构的拓扑特性,并分析和优化了此机构的运动学性能、刚度性能和动力学性能。

首先,对2-(RPa3R)3R并联机构的拓扑特征进行了阐述,并对该并联操作手进行了虚拟样机设计;根据基于方位特征(POC)方程的并联机构拓扑结构设计理论与方法,分析得到了机构的自由度、POC集、耦合度等拓扑特征;并在此基础上,采用矢量法建立该机构运动学模型,其中,基于序单开链法得到了机构的位置正解;导出机构的雅可比矩阵并进行了验证。

其次,基于运动学模型,分别基于工作空间和机构运动/力传递的性能指标,分析了该机构的运动学性能;同时,讨论了该机构的关节约束、奇异位形和运动干涉的情况;在设计约束下,运用GA、PSO和DE三种智能算法对机构进行了运动学性能优化,并比较了三种智能算法的效率和可靠性。

再者,基于虚拟弹簧法(VSM)建立了机构的刚度模型,给出了平行四边形结构的刚度矩阵,然后通过复杂构件柔度矩阵的参数识别方法得到机构中各构件的柔度矩阵,由此,利用该刚度模型的计算结果与仿真结果进行比较,验证了该刚度建模的正确性;同时,利用虚功(VW)刚度性能指标,对机构多种情况下的刚度性能进行了分析,并给出了有关机构承载能力和整体刚度性能的两种指标的定义;通过对两种刚度性能指标加权求和的方法进行了机构的截面参数优化,提升了该机构的刚度性能。

最后,利用动力学普遍方程,建立了机构的动力学模型,通过动力学灵巧度和能量传递效率两种动力学性能指标,对机构动力学性能进行了分析;将杆件的质量参数作为设计变量,基于上述两种动力学性能指标,对机构动力学性能进行优化设计。

According to the theory of topologicalstructure design of parallel mechanism based on the Position and OrientationCharacteristic equation (POC),the topologicalcharacteristics of a novel SCARA parallel mechanism,2-(RPa3R)3Rparallel mechanism,are obtained. The kinematics,stiffness and dynamics performance are also studied through analysisand optimization.

Firstly,thetopological structure of the 2-(RPa3R)3R parallel mechanism was introduced,and the design of virtual prototype of the parallel manipulatorbased on the 2-(RPa3R)3R mechanism was laid. According to the POC,the topological features of the mechanism,suchas the DOF,the POC set and the coupling degree wereobtained. On this basis,the kinematics model was establishedby the vector method,and the forward solution wasobtained based on the sequential single-open-chain(SOC). The Jacobian matrixhas been derived and verified.

Then,based on thekinematics modeling,the kinematics performance of themechanism was analyzed by the kinematic performance index and the motion/forcetransmission performance index based on the workspace. The joint constraint,singular configuration and motion interference of the mechanism werediscussed. Under the constraint,three kinds of intelligentalgorithms,GA,PSO and DE,were used to optimize the kinematics performance of the mechanism,the computational efficiency and reliability of the threeintelligent algorithms in the optimization of the kinematics performance of themechanism were analyzed and compared.

Furthermore,thestiffness model of the mechanism was established based on the Virtual SpringMethod (VSM). The stiffness matrix of the mechanism and the parameteridentification method of the flexibility matrix of the complex component hasbeen given. The correctness of the stiffness modeling was verified. Based onthe Virtual Work (VW) stiffness performance index,thestiffness performance of the mechanism under various conditions was analyzedand the definition of two indexes was given. By weighting the stiffnessperformance indexes,the section parameters of thecomponents in the mechanism were designed to optimize the stiffness performanceof the mechanism.

Finally,using theGeneral equation of dynamics,the dynamic model of themechanism was established. The dynamics performance of the mechanism has beenanalyzed by the kinetic dexterity and energy transfer efficiency. The qualityparameters of the component were used as design variables,based on two dynamics indexes,which isoptimized the design of the dynamics of the mechanism.

关键词:SCARA并联机构;运动学;刚度;动力学;性能优化;

SACRA parallel mechanism; kinematics;stiffness; dynamics; performance optimization

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