多维力加载装置动力学建模及加载试验

侯立果; 王丹; 安大卫; 郭江真; 陈五一; 樊锐

doi:10.13700/j.bh.1001-5965.2017.0349

多维力加载装置动力学建模及加载试验

doi: 10.13700/j.bh.1001-5965.2017.0349

1.
北京麻豆精品秘国产传媒机械工程及自动化学院, 北京 100083
2.
航空工业成都飞机工业(集团)有限责任公司技术中心, 成都 610092

基金项目:

一院高校联合创新基金 CALT201608

详细信息

作者简介:
侯立果男, 硕士研究生。主要研究方向:并联机构

郭江真男, 博士。主要研究方向:多维力加载技术

通讯作者:
郭江真, E-mail: jzguo@cq5520.com

中图分类号: TH122
计量
- 文章访问数: 1038
- HTML全文浏览量: 170
- PDF下载量: 350
- 被引次数: 0
出版历程
- 收稿日期: 2017-05-23
- 录用日期: 2017-06-30
- 网络出版日期: 2018-05-20

Dynamic modeling and loading experiment of multi-dimensional loading device

1.
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2.
Technical Center, AVIC Chengdu Aircraft Industrial(Group) Co., Ltd., Chengdu 610092, China

Funds:

CALT University Innovation Fund CALT201608

More Information

Corresponding author: GUO Jiangzhen, E-mail: jzguo@cq5520.com

摘要

摘要:
设计了一种基于6-PUS并联机构的多维力加载装置，可对目标施加多维时变载荷。首先，根据向量叠加原理和牛顿迭代法，分别推导了加载装置的运动学逆解与正解。其次，基于旋量理论，推导加载装置的速度和静力雅可比矩阵，建立动平台与各支链的运动学和静力学映射。再次，根据虚功原理，建立加载装置的动力学模型，并且通过对比Adams和MATLAB模型的仿真结果，验证动力学模型的正确性。最后，设计并完成多维力加载试验，验证加载装置的多维力加载能力，为后续的数控机床加载试验提供新的加载手段和理论基础。
- 并联机构 /
- 运动学 /
- 动力学 /
- 多维力加载装置 /
- 数控机床
Abstract:
A multi-dimensional loading device based on a 6-PUS parallel mechanism was designed to apply time-varying multi-dimensional loads to target. Firstly, according to the principle of vector superposition and Newton-Raphson method, the inverse and forward kinematics of loading device were analyzed. Secondly, based on the screw theory, the velocity and static force Jacobian matrix, which represent the kinematic and static mapping between the moving platform and actuations, were derived. Thirdly, according to the principle of virtual work, the dynamic model of loading device was established and validated by comparing the actuation forces derived from Adams and MATLAB simulation models. Finally, the multi-dimensional loading tests were designed and completed to verify the multi-dimensional loading ability of the device. The loading device provides a new loading method and theoretical basis for the loading tests of numerical control machine tools.
- parallel mechanism /
- kinematics /
- dynamics /
- multi-dimensional loading device /
- numerical control machine tool

HTML全文

图 1 多维力加载装置结构及坐标系定义示意图

Figure 1. Schematic of structure and coordinate system definition of tested multi-dimensional loading device

下载: 全尺寸图片幻灯片

图 2 机构运动学正解流程图

Figure 2. Flowchart of forward kinematics of mechanism

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图 3 支链坐标系及速度旋量分布示意图

Figure 3. Schematic of branched-chain coordinate system and velocity screw distribution

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图 4 Adams与MATLAB模型所得各支链驱动力的误差

Figure 4. Deviation of branched-chain actuation forces derived from Adams and MATLAB model

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图 5 六维三角波载荷加载误差

Figure 5. Loading errors along six axes with triangular wave load

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图 6 六维正弦载荷加载误差

Figure 6. Loading errors along six axes with sine load

下载: 全尺寸图片幻灯片

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