[1]梁辉,杨加礼,王蕾,等.3_UPU+3_RPS并串联机构的运动学分析及仿真[J].机械与电子,2017,(10):40-43,48.[doi:1001-2257(2017)10-0040-04]
　LIANG Hui,YANG Jiali,WANG Lei,et al.Kinematics Analysis and Simulation of 3_UPU+3_RPS Parallel-series Mechanisms[J].Machinery & Electronics,2017,(10):40-43,48.[doi:1001-2257(2017)10-0040-04]
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3_UPU+3_RPS并串联机构的运动学分析及仿真
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2017年10期
页码:
40-43,48
栏目:
设计与研究
出版日期:
2017-10-24

文章信息/Info

Title:
Kinematics Analysis and Simulation of 3_UPU+3_RPS Parallel-series Mechanisms
作者:
梁辉; 杨加礼; 王蕾; 王术徽
(青岛科技大学机电工程学院,山东 青岛 266061)
Author(s):
LIANG Hui; YANG Jiali; WANG Lei; WANG Shuhui
(Qingdao University of science and Technology,College of Electromechanical Engineering,Qingdao 266061,China)
关键词:
并串联机构;  速度;  加速度;  仿真
Keywords:
parallel-serial mechanism;  velocity;  acceleration;  simulation
分类号:
TH112
DOI:
1001-2257(2017)10-0040-04
文献标志码:
A
摘要:
提出了一种3_UPU+3_RPS新型并串联机构,利用绘图软件绘制了该机构结构简图,介绍了该机构的结构特点,并对其自由度进行了计算; 然后利用影响系数法对该机构的速度和加速度进行分析,得到了速度和加速度的分析方程; 最后用仿真软件ANSYS Workbench对该并串联机构进行结构受力分析,得出等效应力图和应变图。研究结果表明,该机构的自由度为6,速度和加速度等于各层之和,应力和应变都在可承受范围之内。
Abstract:
A new type of 3_UPU + 3_RPS parallel-series mechanism is proposed in this paper. Firstly, the sketch of the mechanism structure was drawn via the drawing software, introducing the structural characteristics of the mechanism; Secondly, the degree of freedom was calculated; Then, the velocity and acceleration of the mechanism was analyzed by the influence coefficient method, based on which, the analytical equations of velocity and acceleration were obtained; Finally, the structural force analysis was carried out by using the simulation software ANSYS Workbench to obtain the equivalent stress and strain graphs. The results show that the freedom of the mechanism is 6, the speed and acceleration are equal to the sum of the layers, and the stress and strain are within the range of tolerance.

参考文献/References:

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[5]许意华. 两级串并联微操作机器人运动学研究及监控系统开发[D]. 北京:北京工业大学, 2001.
[6]胡波, 宋春晓, 张庆玲,等. 2(2-UPR+SPR)串并联机构雅可比矩阵的建立[J]. 中国机械工程, 2015(7):853-858.
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备注/Memo

备注/Memo:
收稿日期：2017-06-24
基金项目：国家自然科学基金青年资助项目（51305219）；山东省自然科学基金青年资助项目（ZR2013EEQ020）
作者简介：梁辉（1971-），男，山东青岛人，博士，副教授，研究方向为并联运动机床（机器人）及其机构学理论、先进加工装备及控制技术。
更新日期/Last Update: 2017-10-25