一种三自由度全柔性并联微动激振台的设计
|
摘要
根据工程多维振动模拟的需要,设计了一种非对称全柔性3-RRRP微动并联激振台机构。在普通非对称3-RRRP并联机构基础上,将机构中的普通关节全柔性化,形成新型全柔性微动并联机构,在全柔性并联机构的主动件处施加单自由度的压电陶瓷激振器,设计出全柔性的多维微动激振台,经理论分析,发现该振动台具有三平移的微振动模拟输出。最后,对之进行了ADAMS软件仿真模拟,模拟结果显示,此种全柔性多维微动激振台可以以单层结构实现不同方向单自由度的平动振动模拟,也可以实现多维(二自由度或三自由度)微动振动的模拟输出,且激振输入与振动输出运动学完全解耦,具有相同的振动规律与振动频率,容易控制。
It is designed a new fully compliant 3-RRRP parallel micro-displacement vibration actuator.All the joints in the traditional 3-RRRP parallel mechanism are changed into fully compliant ones.Theoretic analysis shows that the fully compliant mechanism will transfer into micro-displacement vibration actuator if adding single freedom vibration actuators to the traditional inputting components.The results are simulated with ADAMS software.The simulation shows that the fully compliant 3-RRRP parallel micro-displacement vibration actuator could simulate different translational vibrations with one freedom,two freedoms,three freedoms.Not only the actuator input and vibrtation output are all decoupled Kenimatically,but also have the same vibration rules and frequencies.
It is designed a new fully compliant 3-RRRP parallel micro-displacement vibration actuator.All the joints in the traditional 3-RRRP parallel mechanism are changed into fully compliant ones.Theoretic analysis shows that the fully compliant mechanism will transfer into micro-displacement vibration actuator if adding single freedom vibration actuators to the traditional inputting components.The results are simulated with ADAMS software.The simulation shows that the fully compliant 3-RRRP parallel micro-displacement vibration actuator could simulate different translational vibrations with one freedom,two freedoms,three freedoms.Not only the actuator input and vibrtation output are all decoupled Kenimatically,but also have the same vibration rules and frequencies.
引文
[1]于靖军,毕树生,宗光华,等.基于伪刚体模型法的全柔性机构位置分析[J].机械工程学报,2002,38(2):75~78.
[2]John Speich,Michael Goldfarb.A Compliant-Mechanism-BasedThree Degree-of-Freedom Manipulator for Small-Scale Manipulation[J].Robotica.2000,18:95~104.
[3]Sridhar Kota,Jinyong Joo,Zhe Li,et al.Design of CompliantMechanisms:Applications to MEMS[J].Analog Integrated Cir-cuits and Signal Processing,2001,29:7~15.
[4]杨启志.新型全柔性多维微动并联机器人机构及其应用的研究[D].江苏镇江:江苏大学,2006.
[5]杨启志,马履中,尹小琴.一类全柔性三自由度微型激振台[P].发明专利:ZL03193258.1,2006.
[6]盛英,仇原鹰.6腿支撑液压式平台自动调平算法[J].西安电子科技大学学报,2002,29(5):593~597.
[7]杨世祥,杨涛,徐悦桐.大型数字式六自由度运动平台的开发[C]//液压与气动,2003,(8):46~47.
[8]赵强,李洪人,韩俊伟.stewart平台的振动研究[J].机械科学与技术,2004,23:594~597.
[9]韩俊伟,李玉亭,胡宝生.大型三向六自由度地震模拟振动台[J].地震学报,1998,(5):327~329.
[10]万德安,丁宇斌,谢长生,等.多维驱动微型振动平台的研制[J].宇航计测技术,2001,(6):39~42.
[11]杨启志,尹小琴,马履中,等.能量法求解全柔性微动机器人移动副的刚度[J].江苏大学学报(自然科学版),2005(1):12~15.
[12]杨启志,尹小琴,马履中,等.数值法建立单向柔性铰链刚度矩阵[J].农业机械学报.2005,(1):104~107.
[2]John Speich,Michael Goldfarb.A Compliant-Mechanism-BasedThree Degree-of-Freedom Manipulator for Small-Scale Manipulation[J].Robotica.2000,18:95~104.
[3]Sridhar Kota,Jinyong Joo,Zhe Li,et al.Design of CompliantMechanisms:Applications to MEMS[J].Analog Integrated Cir-cuits and Signal Processing,2001,29:7~15.
[4]杨启志.新型全柔性多维微动并联机器人机构及其应用的研究[D].江苏镇江:江苏大学,2006.
[5]杨启志,马履中,尹小琴.一类全柔性三自由度微型激振台[P].发明专利:ZL03193258.1,2006.
[6]盛英,仇原鹰.6腿支撑液压式平台自动调平算法[J].西安电子科技大学学报,2002,29(5):593~597.
[7]杨世祥,杨涛,徐悦桐.大型数字式六自由度运动平台的开发[C]//液压与气动,2003,(8):46~47.
[8]赵强,李洪人,韩俊伟.stewart平台的振动研究[J].机械科学与技术,2004,23:594~597.
[9]韩俊伟,李玉亭,胡宝生.大型三向六自由度地震模拟振动台[J].地震学报,1998,(5):327~329.
[10]万德安,丁宇斌,谢长生,等.多维驱动微型振动平台的研制[J].宇航计测技术,2001,(6):39~42.
[11]杨启志,尹小琴,马履中,等.能量法求解全柔性微动机器人移动副的刚度[J].江苏大学学报(自然科学版),2005(1):12~15.
[12]杨启志,尹小琴,马履中,等.数值法建立单向柔性铰链刚度矩阵[J].农业机械学报.2005,(1):104~107.
版权所有：© 2023 中国地质图书馆 中国地质调查局地学文献中心