液压伺服驱动3-UPS/S并联稳定平台振动响应分析

中国机械工程

液压伺服驱动3-UPS/S并联稳定平台振动响应分析

李玉昆1,2;李永泉1,2;万一心1,2;强红宾2,3;张立杰2,3

1.燕山大学河北省并联机器人与机电系统实验室，秦皇岛，066004
2.燕山大学先进锻压成形技术与科学教育部重点实验室，秦皇岛，066004
3.燕山大学河北省重型机械流体动力传输与控制实验室，秦皇岛，066004

出版日期:2019-02-25 发布日期:2019-02-26
基金资助:
国家自然科学基金资助项目(51275438,51405421)

Analysis of 3-UPS/S Parallel Platform Vibration Responses under Hydraulic Servo Drives

LI Yukun1,2;LI Yongquan1,2;WAN Yixin1,2;QIANG Hongbin2,3;ZHANG Lijie2,3

1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, 066004
2. Key Laboratory of Advanced Forging & Stamping Technology and Science,Yanshan University,Ministry of Education of China, Qinhuangdao,Hebei, 066004
3.Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao, Hebei, 066004

Online:2019-02-25 Published:2019-02-26

摘要/Abstract

摘要： 考虑到并联稳定平台在重载情况下的振动问题，以液压伺服驱动3-UPS/S并联稳定平台为研究对象，基于虚功原理建立了稳定平台的动力学模型，并考虑实际工况，对动力学模型进行简化处理，得到了稳定平台的振动模型；为提高振动模型计算的可靠性，通过实验获得了机构的单分支实际刚度；在此基础上，采用脉冲激振法进行了稳定平台模态实验，对比固有频率实测值与理论计算值，验证了振动模型的正确性；最后分析了液压缸抖动对稳定平台运动的影响，以及空载和负载下稳定平台的振动响应，通过分析计算可知，机构的平稳性变差主要是由液压缸的抖动以及重载情况下稳定平台的受迫振动引起的。

关键词: 并联机构, 液压驱动, 振动, 刚度

Abstract: Considering the vibration problems of parallel stabilized platforms in heavy loading, a 3-UPS/S parallel stabilized platform driven by hydraulic servo was studied. Based on the principles of virtual work, the dynamics model of the stabilized platform was established. Considering the actual working conditions, the dynamics model was simplified to obtain the vibration model of the stable platform. In order to improve the reliability of the calculation, experiments were carried out to obtain the actual stiffness of a single branch. Based on this, the stabilized platform modal tests were carried out by using pulse excitation method, the correctness of the vibration model was verified by comparing the measured values and theoretical values of natural frequencies. Finally, the influences of hydraulic cylinder vibrations on the movement of the moving platform and vibration responses of moving platform were analyzed under no-load and load. According to the analyses and calculations, the poor stability of the mechanisms is mainly caused by the vibrations of the hydraulic cylinders and the forced vibrations of the moving platforms under heavy loads.

Key words: parallel mechanism, hydraulic drive, vibration, stiffness

中图分类号:

TH112

李玉昆1,2;李永泉1,2;万一心1,2;强红宾2,3;张立杰2,3. 液压伺服驱动3-UPS/S并联稳定平台振动响应分析[J]. 中国机械工程.

LI Yukun1,2;LI Yongquan1,2;WAN Yixin1,2;QIANG Hongbin2,3;ZHANG Lijie2,3. Analysis of 3-UPS/S Parallel Platform Vibration Responses under Hydraulic Servo Drives[J]. China Mechanical Engineering.

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http://www.cmemo.org.cn/CN/Y2019/V30/I04/423

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