摘要
采用三平移并联机构3-RRRP(4R)作为三维减振平台主体机构。论述了采用柔性关节与普通关节混合型的主体机构的结构,对原机构主动副采用常用转动副加扭簧装置外,其余转动副采用簧片结构,消除了运动副间隙,提高了减振灵敏度。对该机构进行了位置正解、反解分析和力学分析,并讨论了运动学工作空间。运用当量摩擦圆概念来近似替代柔性关节,分析带柔性关节机构的力学工作空间。对该机构的整体力平衡进行了讨论,提出了解决整机力平衡的方法。
The 3-DOF vibration reduction platform used 3-DOF traslational parallel mechanism 3-RRC as its basic mechanism. The structure of the hybrid basic mechanism adopted flexible joints and general joints. When the rotational joint is a driver, it must set up a swing spring. Otherwise, the rotational joint is replaced for spring leaf in order to remove the gap of joints and increase sensitivity. The inverse and direct kinematics, force analysis was presented and the kinematic workspace was discussed. The workspace of the mechanisms with compliant joints was analyzed with the method of fraction circle. Practical workspace of the moving platform is the mutual parts of three above all. In addition, the method of force balance for the hybrid vibration reduction platform was presented.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2005年第6期471-474,共4页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50375067)
解放军军事科学院卫生装备研究所资助项目(2002015)
关键词
三维减振平台
并联机构
运动学分析
力学分析
工作空间
DOF vibration reduction platform
parallel mechanism
kinematic analysis
force analysis
workspace
