摘要
以6-UPU并联机构为研究对象,建立了并联机构广义固有频率模型,对底位工况位置进行了固有频率数值求解;利用微加速度计测试出并联机构5个自由度的固有频率值;理论分析与实验测试结果较为接近,其误差度在10%的范围内,验证了振动模型的正确性。实验表明:该振动测试分析方法可用于并联机构固有频率分析,可为类似构型的并联机构结构设计与控制器设计提供理论依据。
Based on an integrated dynamic model of 6-UPU parallel mechanism, the parallel mechanism model of natural fre- quency was established, taking the parallel mechanism in project for example, and the natural frequency was solved in lowest work location. The value of natural frequency of five free degrees was tested by using the micro-accelerometers. The natural frequencies measured by experiments show better agreement with the results of the theoretical analysis, and its error tolerance is within 10%. The validity of the vibration model has been verified. The experiment shows that this vibration analysis method can be used for the analysis of the parallelmechanism natural frequency. It offers theoretical basis for the design of the controller and structure of some other similar mechanisms.
出处
《仪表技术与传感器》
CSCD
北大核心
2011年第9期26-29,共4页
Instrument Technique and Sensor
基金
空军装备部科订部项目(2010-XXX)
关键词
并联机构
动力学建模
振动分析
实验测试
微加速度计
parallel mechanism
dynamics modeling
vibration analysis
experiment test
micro-aecelerometer
