并联机构承载能力分析

中国机械工程 ›› 2015, Vol. 26 ›› Issue (7): 871-877.

并联机构承载能力分析

苑飞虎1;赵铁石1,2;赵延治1,2;翁大成1

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:2015-04-10 发布日期:2015-04-24
基金资助:
国家自然科学基金资助项目（51375420，50975244，51105322）

Analysis of Load Carrying Capacity of Parallel Mechanism

Yuan Feihu1;Zhao Tieshi1,2;Zhao Yanzhi1,2;Weng Dacheng1

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,Ministry of Education of China,Yanshan University,Qinhuangdao,Hebei,066004

Online:2015-04-10 Published:2015-04-24
Supported by:
National Natural Science Foundation of China（No. 51375420，50975244，51105322）

摘要/Abstract

摘要：

采用显式求解法计算最大外载荷的极大值，提出了一种基于拉格朗日函数的比例法来计算最大外载荷的极小值。为引入构件重力和惯性力的影响，提出等效驱动力的概念，在此基础上将并联机构用于运动模拟台时的承载能力分为静态承载能力和动态承载能力，并基于比例法给出承载能力的计算过程。最后以六自由度并联机构为例，分析了位姿对承载能力和承载性能指标的影响。研究结果为重载并联机构的优化设计和性能评价提供了参考。

关键词: 承载性能, 承载能力, 比例法, 等效驱动力, 运动模拟台

Abstract:

The explicit method was used to calculate the maximum extreme of the maximum external load. To get the minimum extreme of the maximum external load, a scaling foctor method was presented based on Lagrange function. Taking into account the effects of components' gravities and inertial forces,the concept of equivalent driving force was presented.Based on this concept, the static carrying capacity and dynamic carrying capacity of parallel mechanism used as motion simulation platform was discussed. The calculation process was put forward based on scaling foctor method. Using a six DOF mechanism as an example, the effects of mechasim poses on carrying capacity and carrying performance indexes was analyzed. A reference to guide and evaluate the design and performance of heavy load parallel mechanism is put forward.

Key words: load carrying performance, load carrying capacity, scaling foctor method, equivalent driving force, motion simulation platform

中图分类号:

TP24

苑飞虎, 赵铁石, 赵延治, 翁大成. 并联机构承载能力分析[J]. 中国机械工程, 2015, 26(7): 871-877.

Yuan Feihu, Zhao Tieshi, Zhao Yanzhi, Weng Dacheng. Analysis of Load Carrying Capacity of Parallel Mechanism[J]. China Mechanical Engineering, 2015, 26(7): 871-877.

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