6-UPRRU S折叠式并联机构及其动力学模型

中国机械工程 ›› 2015, Vol. 26 ›› Issue (4): 456-463.

6-UPRRU S折叠式并联机构及其动力学模型

耿明超1,2;赵铁石1,2;赵飞1,2;潘秋月1,2

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

出版日期:2015-02-25 发布日期:2015-02-25
基金资助:
国家自然科学基金资助项目(50975244)

A 6-UPRRU S Foldable Parallel Mechanism and Its Dynamics Model

Geng Mingchao1,2;Zhao Tieshi1,2;Zhao Fei1,2;Pan Qiuyue1,2

1.Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System,Yanshan University,Qinhuangdao,Hebei,066004
2.Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education of China, Yanshan University, Qinhuangdao, Hebei, 066004

Online:2015-02-25 Published:2015-02-25
Supported by:
National Natural Science Foundation of China（No. 50975244）

摘要/Abstract

摘要：

提出一种6-UPRRU S折叠式六自由度并联机构来实时调整卫星相机的位姿以保证相机的成像质量。机构由6个分支组成,每个分支中包含一个由UPR和UR组成的五杆闭环子链，驱动副为移动副。对机构的结构特点进行了分析，以此为基础分析了该机构的自由度，得到了机构运动学反解。利用旋量速度、加速度及闭环子链的运动特性求解广义关节的速度、加速度，建立机构分支中各个杆件的运动学模型。基于虚功原理和机构的运动学模型,利用旋量表示的牛顿-欧拉公式建立该机构的动力学模型。分析了折叠机构的关键结构参数对机构的运动学、动力学性能的影响,采用动力学仿真软件验证了理论模型，为机构在空间相机的位姿调整、跟踪中的应用提供了理论依据。

关键词: 卫星相机, 调姿, 折叠, 并联机构, 动力学

Abstract:

In order to ensure the quality of a satellite camera's imaging, a 6-UPRRU S foldable PM was proposed to adjust the pose of the camera in real time.The PM has six branches,each branch was of a five-link closed-loop structure composed by UPR and UR, and the active joint was as prismatic joint.Characteristics of the PM were analyzed, and the freedoms of the mechanism were deducted based on this inverse kinematics. Using twist, accelerator and the characteristics of the closed-loop structure, the velocity and acceleration of this mechanism were solved, and the detailed kinematics of the branch was obtained. The dynamics model was established on the basis of the principle of virtual work and the kinematics model of the mechanism.The effects of the key structure parameters applied on the mechanism's kinematics and dynamics were analyzed. The model was validated by dynamics software, which provides a theoretical basis for the mechanisms used in the camera's pose adjusting and tracking.

Key words: satellite camera, pose adjusting, foldable, parallel mechanism(PM), dynamics

中图分类号:

TP242
TP391

耿明超, 赵铁石, 赵飞, 潘秋月, . 6-UPRRU S折叠式并联机构及其动力学模型[J]. 中国机械工程, 2015, 26(4): 456-463.

Geng Mingchao, Zhao Tieshi, Zhao Fei, Pan Qiuyue, . A 6-UPRRU S Foldable Parallel Mechanism and Its Dynamics Model[J]. China Mechanical Engineering, 2015, 26(4): 456-463.

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