A method for force analysis of the overconstrained lower mobility parallel mechanism
A method for force analysis of the overconstrained lower mobility parallel mechanism
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DOI：
10.1016/j.mechmachtheory.2015.01.004
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发表时间：
2015-06
影响因子：
5.2
通讯作者：
Yundou Xu;Wenlan Liu;Jiantao Yao;Yongsheng Zhao
中科院分区：
文献类型：
--
作者：
Yundou Xu;Wenlan Liu;Jiantao Yao;Yongsheng Zhao
提出了一种过约束低自由度并联机构受力分析的新方法。首先，提出了约束扳手和过约束扳手的定义。然后，根据支承支腿末端弹性变形的特点，将过约束LMPM分为两类，即肢体刚度解耦过约束LMPM和肢体刚度耦合过约束LMPM。对应于解耦和耦合的过约束LMPM，分别引入和定义了支撑肢体的过约束扳手和约束扳手的刚度矩阵。其次，考虑杆件的空间复合弹性变形，建立了支撑杆的过约束扳手或约束扳手的刚度矩阵，并推导出各支撑杆的过约束扳手或约束扳手的解的一般解析表达式。此外，还讨论了约束扳手与实际关节反力之间的内在联系。最后，基于ADAMS仿真软件，提出了一种建立过约束LMPM受力仿真模型的方法，仿真结果与理论计算结果基本一致，有效地验证了本文提出的过约束LMPM受力分析方法的正确性。
A novel method for force analysis of the overconstrained lower mobility parallel mechanisms (LMPM) is proposed. Firstly, definitions of the constraint wrenches and overconstraint wrenches are put forward. Then, overconstrained LMPMs are classified into two classes based on characteristic of the elastic deformations generated at the end of the supporting limbs, which are limb stiffness decoupled overconstrained LMPM and limb stiffness coupled overconstrained LMPM, respectively. Corresponding to the limb stiffness decoupled and coupled overconstrained LMPMs, stiffness matrix of the supporting limb's overconstraint wrenches and constraint wrenches are introduced and defined respectively. Next, taking the link's spatial composite elastic deformations into account, the stiffness matrix of the supporting limb's overconstraint wrenches or constraint wrenches is established, and general analytical expression for the solution of each supporting limb's overconstraint wrenches or constraint wrenches is derived. Furthermore, the internal relation between the constraint wrenches and the actual joint reactions is discussed. Finally, based on Adams simulation software, a method to set up the force simulation model of the overconstrained LMPM is put forward, and the simulation results and the theoretical calculation ones are basically consistent, which effectively verifies the correctness of the proposed method for force analysis of the overconstrained LMPM.