含间隙空间并联机构刚柔耦合动力学分析与试验

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中图分类号：TH112

Abstract： In order to accurately predict the dynamics characteristics of the spatial parallel mechanisms under the combined action of joint clearances and component elasticity，a 3-RRPaR spatial paralel mechanism was taken as the research object，and rigid-flexible coupling dynamics model of the mechanisms was established with clearances. The fourth-order Runge-Kutta method and the generalized α algorithm were used to solve the dynamics model. The dynamic output responses such as displacement，velocity and acceleration of the moving platform of rigid body dynamics model with clearances and the rigid-flexible coupling dynamics model with clearances were compared and analyzed. An experimental platform was built to verify the correctness of the dynamics analysis results. The results show that the elastic deformations of the components may aggravate the velocity and acceleration fluctuation of the mechanisms，and the increase of the clearance values may lead to the increase of fluctuation of dynamic output response.

Key words： spatial paralel mechanism；motion pair clearance；rigid-flexible coupling；dynamics char acteristics

0 引言

相较于传统的串联机构平台，空间并联机构因其结构紧凑、刚度和稳定性高、动态响应灵敏等特点[1-2被广泛应用于各个领域当中，伴随着技术的不断进步，人们对其精度的要求也越来越高。（剩余13191字）