基于虚功原理的过约束并联机构动力学分析

IF 1.8 4区数学 Q3 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Mathematical and Computer Modelling of Dynamical Systems Pub Date : 2021-01-02 DOI:10.1080/13873954.2021.1920618

Miao Chen, Qing Zhang, Yunfei Ge, X. Qin, Yuantao Sun

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引用次数: 2

摘要

建立了一种由两个万向-棱镜-转动关节分支和一个转动-转动-万向关节分支组成的新型过约束并联机构的运动学数学模型，并进行了完整的动力学分析。基于闭环矢量法建立了运动模型，推导了速度雅可比矩阵，并建立了各运动部件与运动平台之间的速度映射关系。在此基础上，分析了所提结构的惯性和受力，并基于虚功原理建立了具有经典Stribeck摩擦模型的完整动力学方程。给出了求解运动学和动力学解的理论数值算例，并通过Simscape中的物理模型仿真和Adams中的刚柔耦合模型仿真验证了所建立的动力学公式的理论力。理论结果与多体仿真结果吻合较好。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Dynamic analysis of an over-constrained parallel mechanism with the principle of virtual work

ABSTRACT This research presents the mathematical modelling of kinematic and complete dynamic analysis of a novel over-constrained parallel mechanism, which consists of two universal-prismatic-revolute joint limbs and one revolute-revolute-universal joint limb. The kinematic model is constructed based on the closed-loop vector method and the velocity Jacobian matrix is deduced, velocity-mapping relationships between all moving components and moving platform are also performed. Afterwards, inertia and applied forces are analysed, the complete dynamic equations with the classical Stribeck friction model of the proposed structure is established based on the principle of virtual work. A theoretical numerical example is given to solve kinematics and dynamics solutions, and theoretical forces from developed dynamic formulation are verified by the physic model simulation in Simscape and the rigid-flexible coupling model simulation in Adams. A good agreement between the theoretical results and multi-body software simulation is found.

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来源期刊

Mathematical and Computer Modelling of Dynamical Systems 数学-计算机：跨学科应用

CiteScore

3.80

自引率

5.30%

发文量

审稿时长

>12 weeks

期刊介绍： Mathematical and Computer Modelling of Dynamical Systems (MCMDS) publishes high quality international research that presents new ideas and approaches in the derivation, simplification, and validation of models and sub-models of relevance to complex (real-world) dynamical systems. The journal brings together engineers and scientists working in different areas of application and/or theory where researchers can learn about recent developments across engineering, environmental systems, and biotechnology amongst other fields. As MCMDS covers a wide range of application areas, papers aim to be accessible to readers who are not necessarily experts in the specific area of application. MCMDS welcomes original articles on a range of topics including: -methods of modelling and simulation- automation of modelling- qualitative and modular modelling- data-based and learning-based modelling- uncertainties and the effects of modelling errors on system performance- application of modelling to complex real-world systems.