Nonlinear Analytical Modeling and Characteristic Analysis of a Class of Compound Multibeam Parallelogram Mechanisms
Nonlinear Analytical Modeling and Characteristic Analysis of a Class of Compound Multibeam Parallelogram Mechanisms
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DOI：
10.1115/1.4029556
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发表时间：
2015-11-01
影响因子：
2.6
通讯作者：
Li, Haiyang
中科院分区：
文献类型：
--
作者：
Hao, Guangbo;Li, Haiyang
建立了一类复合多梁平行四边形机构的非线性分析模型，并进行了静力特性分析。CMPM是由多个复合基本平行四边形机构(CBPM)组成的嵌入式并联机构。首先，利用自由体图法，通过适当的逼近策略，建立了CBPM的非线性分析模型。基于CBPM的建模结果，建立了CMPM的非线性分析模型。最后对CBPM进行了非线性有限元分析(FEA)对比、试验测试和详细的刚度分析。结果表明，解析主运动模型与有限元模型和试验结果吻合较好，但在较大主运动/力的情况下，解析寄生运动模型与有限元模型存在偏差。解析特性分析还表明，主平移刚度随主运动的增加而增大，寄生运动刚度随主运动的增加而减小，寄生运动刚度与主平移刚度之比也随主运动的增大而减小。结果表明，梁长细比越大，刚度或刚度比越大，刚度或刚度比的变化越明显。刚度比的变化反映了CBPM的流动性变化。
This paper deals with nonlinear analytical models of a class of compound multibeam parallelogram mechanisms (CMPMs) along with the static characteristic analysis. The CMPM is composed of multiple compound basic parallelogram mechanisms (CBPMs) in an embedded parallel arrangement. First, nonlinear analytical models for the CBPM are derived using the free-body diagram method through appropriate approximation strategies. The nonlinear analytical models of the CMPM are then derived based on the modeling results of the CBPM. Nonlinear finite element analysis (FEA) comparisons, experimental testing, and detailed stiffness analysis for the CBPM are finally carried out. It is shown that the analytical primary motion model agrees with both the FEA model and the testing result very well but the analytical parasitic motion model deviates from the FEA model over the large primary motion/force. It is also shown from the analytical characteristic analysis that the primary translational stiffness increases with the primary motion but the parasitic motion stiffness decreases with the primary motion, and the stiffness ratio of the parasitic motion stiffness to the primary translation stiffness also decreases with the primary motion. It is found that the larger the beam slenderness ratio is, the larger the stiffness or stiffness ratio is, and the more apparent the change of the stiffness or stiffness ratio is. The varied stiffness ratio indicates the mobility change of the CBPM.