摘要
2-SPR-RPS并联机构具有1个移动和2个转动自由度,可用做搅拌摩檫焊机器人.在实际工况下,该机构端部动平台受力条件复杂,多支链耦合,故有必要对其进行静力学分析.首先通过拆杆,建立矢量6维力平衡方 程;其次采用自由度解耦,分别调整动平台2个转角和动平台高度值,分析了3种单自由度状态下各杆件受力曲线, 从而获得输出端位姿参数与并联机构驱动-约束反力之间的映射;最后,对单变量参数重新组合,得到完整的静力图谱.研究结果可对2-SPR-RPS并联机构的驱动电机选型、机构关节承载分析、结构强度设计提供参考.
2-SPR-RPS parallel manipulator has one translational degree of freedom （DOF ） and two rotational DOFs , which can be used for friction stir welding robot. In real working condi tions, theexternal wrench exerted on the end-effector is complex , and is born by the mutiple coupling branches. Therefore,static analysis of the manipulator is necessary. First of all, the vector method was used to establish wrench equations. After that,the DOFs of the parallel manipulator were decoupled by adjusting two rotation angles and the stroke , respectively. Then , the mapping between the configuration of the manipulator and the constraint or actuation wrenches of joints was obtained. Finally, univariate parameters were combined again to get complete static wrench diagrams. The research results offer guidance for driver selection, joint bearing analysis and structural strength design of the 2-SPR-RPS parallel manipulator.
出处
《浙江理工大学学报（自然科学版）》
2016年第5期713-719,共7页
Journal of Zhejiang Sci-Tech University(Natural Sciences)
基金
国家自然科学基金项目(51275479)
浙江省自然科学基金项目(LZ14E050005)
机械工程浙江省重中之重学科
浙江理工大学重点实验室开放基金项目(ZSTUME01A07)
关键词
并联机构
少自由度
静力分析
矢量法
parallel manipulator
lower-mobility
static analysis
vectormethod
