摘要
针对冗余重载驱动器存在偏载的问题,提出一种具备偏载自协调的冗余驱动机构设计方案。根据机构几何约束关系,建立该机构的位置约束方程及速度、加速度关系式,运用虚功形式的动力学普遍方程,建立该机构的动力学模型。在此基础上,运用拉格朗日定理和李雅普诺夫稳定性理论,对该机构的偏载稳定性进行分析,得出了该机构稳定性与协调杆结构弯曲角之间的关系。基于所建立的动力学模型,运用相平面法,及对驱动器偏载率进行分析,分析了某一具体机构实例的偏载稳定性,分析结果验证了理论结果的正确性。研究结果表明,在协调杆结构弯曲角大于180°的条件下,当受扰动产生偏载时,该机构可以通过自动调节,保持其运动稳定性,且具有回复到匀载状态的趋势。
Aiming at the problem of motion stability of the redundantly actuating mechanism caused by uneven load,one scheme of the redundantly actuating mechanism is proposed.The position,velocity and acceleration equations are established on the basis of geometric constraints,and the dynamical model is established based on the principle of virtual work.Then,the stability of this mechanism is analyzed by use of the Lagrange theorem and the Lyapunov stability principle,and the relationship between bending angle of the coordinate link and stability is obtained.The correctness of the analysis is proved by an example study,which is analyzed by use of the method of phase plane and the analysis of uneven load ratio of the driving cylinder.The results demonstrate that this mechanism under offset load causing by perturbation keeps stable by self-coordination,and has the trend of backing to even load,only if the bending angle of the coordinate link is larger than 180 degrees.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2012年第1期7-12,共6页
Journal of Mechanical Engineering
基金
国家自然科学基金(51075259
50821003)
国家重点基础研究发展计划(973计划
2007CB714003)
上海市科委重点攻关计划(10111100203)
教育部新世纪优秀人才支持计划(NCET-10-0579)资助项目
关键词
冗余驱动
运动稳定性
偏载
Redundant actuator Motion stability Uneven load
