工程特殊加工三自由度并联机构刚度分析

IF 1 4区工程技术 Q4 ENGINEERING, MECHANICAL

Mechanical Sciences Pub Date : 2022-07-20 DOI:10.5194/ms-13-635-2022

Haiqiang Zhang, J. Tang, Changtao Yan, G. Cui, Minghui Zhang, Yan’an Yao

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引用次数: 2

摘要

摘要在航空航天领域，要完成大型复杂的曲面加工任务，对机构的精度和稳定性有相当严格的要求。为了提高并联机构的刚度性能，提出了一种新型三自由度冗余驱动2RPU-2SPR并联机构(R、P、U分别代表转动关节、棱镜关节、万向关节和球面关节)。首先推导了运动学位置反解，并通过驱动雅可比矩阵和约束雅可比矩阵建立了无量纲广义雅可比矩阵;其次，推导了并联机构的刚度模型，并通过有限元分析验证了刚度模型的准确性。利用本征螺旋分解来说明刚度矩阵的物理解释，刚度矩阵相当于六个简单的螺旋弹簧。仿真实验结果表明，与传统的2RPU-SPR并联机构相比，冗余驱动并联机构具有更好的刚度性能。

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Stiffness analysis of a 3-DOF parallel mechanism for engineering special machining

Abstract. There are considerably rigorous requirements for accuracy and stability of the mechanism to accomplish large-scale and complex surface machining tasks in the aerospace field. In order to improve the stiffness performance of the parallel mechanism, this paper proposes a novel three degrees of freedom (DOF) redundantly actuated 2RPU-2SPR (where R, P, U and S stand for revolute, prismatic, universal and spherical joints, respectively) parallel mechanism. Firstly, the kinematics position inverse solution is derived and a dimensionless generalized Jacobian matrix is established through the driving Jacobian matrix and constraint Jacobian matrix. Secondly, the stiffness model of the parallel mechanism is deduced and the accuracy of the stiffness model is verified through finite-element analysis. Using eigenscrew decomposition to illustrate the physical interpretation of the stiffness matrix, the stiffness matrix is equivalent to six simple screw springs. Finally, the simulation experiment results demonstrate that redundantly actuated parallel mechanism has better stiffness performance compared to the traditional 2RPU-SPR parallel mechanism.

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来源期刊

Mechanical Sciences ENGINEERING, MECHANICAL-

CiteScore

2.20

自引率

7.10%

发文量

审稿时长

29 weeks

期刊介绍： The journal Mechanical Sciences (MS) is an international forum for the dissemination of original contributions in the field of theoretical and applied mechanics. Its main ambition is to provide a platform for young researchers to build up a portfolio of high-quality peer-reviewed journal articles. To this end we employ an open-access publication model with moderate page charges, aiming for fast publication and great citation opportunities. A large board of reputable editors makes this possible. The journal will also publish special issues dealing with the current state of the art and future research directions in mechanical sciences. While in-depth research articles are preferred, review articles and short communications will also be considered. We intend and believe to provide a means of publication which complements established journals in the field.