留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

柔索驱动并联加工机构的力学建模与分析

汤奥斐 李言 郑建明 袁启龙 成小涓

汤奥斐, 李言, 郑建明, 袁启龙, 成小涓. 柔索驱动并联加工机构的力学建模与分析[J]. 机械科学与技术, 2014, 33(12): 1803-1806. doi: 10.13433/j.cnki.1003-8728.2014.1208
引用本文: 汤奥斐, 李言, 郑建明, 袁启龙, 成小涓. 柔索驱动并联加工机构的力学建模与分析[J]. 机械科学与技术, 2014, 33(12): 1803-1806. doi: 10.13433/j.cnki.1003-8728.2014.1208
Tang Aofei, Li Yan, Zheng Jianming, Yuan Qilong, Cheng Xiaojuan. Mechanical Modelling and Analysis of Cable Driven Parallel Mechanism for Processing[J]. Mechanical Science and Technology for Aerospace Engineering, 2014, 33(12): 1803-1806. doi: 10.13433/j.cnki.1003-8728.2014.1208
Citation: Tang Aofei, Li Yan, Zheng Jianming, Yuan Qilong, Cheng Xiaojuan. Mechanical Modelling and Analysis of Cable Driven Parallel Mechanism for Processing[J]. Mechanical Science and Technology for Aerospace Engineering, 2014, 33(12): 1803-1806. doi: 10.13433/j.cnki.1003-8728.2014.1208

柔索驱动并联加工机构的力学建模与分析

doi: 10.13433/j.cnki.1003-8728.2014.1208
基金项目: 

国家自然科学基金项目(51105303)

中国博士后科学基金项目(20110491673)资助

详细信息
    作者简介:

    汤奥斐(1979- ),副教授,博士,研究方向机构力学建模与振动控制,aofeitang@126.com。

Mechanical Modelling and Analysis of Cable Driven Parallel Mechanism for Processing

  • 摘要: 针对柔索驱动并联加工机构,着重分析了该系统的固有频率及动力学响应特性.构建了系统瞬态时在切削力作用下的振动模型,解算出系统的固有频率;研究了系统的切削力模型和该力作用下的系统响应问题,基于龙格库塔法对系统的受迫振动模型进行数值求解.最后通过数值算例验证了该算法的可行性,并通过快速傅里叶变换(fast fourier transformation,FFT)将时域响应转变为频域解,分析了动平台质量和重心位置参数对系统稳定性的影响.
  • [1] Lim wB,Yang,Y S H,et al.A generic: force-ctaosure analysis algorithm for cable-driven parallel manipulators[J]Mechanism and Machine Theory, 2011,46(9):1265-1275
    [2] Bosscher P,Ebert-Uphoff I.A stability measure for cable-driven underconstrained robots [C//Proceedings of the 2004 IEEE International Conference on Robotict、& Automation,New Orleans,2004
    [3] Zhang B,Kobayashi Y,Chiba T,et al.Robotic patch-stabilizer using wire driven mechanism for minimally invasive fetal surgery[C]//31 st Annual International Conference of the IEEE Engineering in Medicine and Biology Society,Minneapolis,Minnesota,2009
    [4] Diao X M,Ma ou.Force-ctaosure analysis of general 6-DOF cable manipulators[C]//Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems,San Diego,2007
    [5] Hiroaki K,Ryuta 0.Adaptive neural network control of tendon-driven mechanisms with elastic: tendons[J] Automatica,2003,39 (9):1509-1519
    [6] 警斌,段宝岩,杜敬利,等-种柔索并联机器人的动力学 建模与主动控制[J]振动与冲击,2007,26(3):96-100 Zi B,Duan B Y,Du J L,et al.Modeling and actaive control of a cable-suspended parallel manipulator[J] Journal of Vibration and Shock,2007,26(3):96-100 (in Chinese)
    [7] Roger B,Adam J,Fred P,et al.Cable-based reconf bwrable machines for large scale manufactauring[C]// Proceedings of the 2000 Japan-USA Symposium on Flexible Automation International Conference on New Technological Innovation for the 21st Century,Ann Arbor,Michigan,2000
    [8] Ma 0,Diao X M.Dynamic、analysis of a cable-driven parallel manipulator for hardware-in-the-loop dynamic simulation[C//Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronic、,Monterey,California;IEEE,2005
    [9] 张波,赵明扬,房立金-种6自由度柔索并联机器人 的动力学研究[J]机械科学与技术,2004,23(6); 735-738 Zhang B,Zhao M Y,Fang L J.Study on dynamic、of a 6-DOF wire driven parallel robot[J]Mechanical Seience and Technology,2004,23(6):735-738(in Chinese)
    [10] Meunier G,Boulet B,Nahon M.Control of an overactauated cable-driven parallel mechanism for a radio telescope application[J].IEEE Transactaions on Control Systems Technology,2009,17(5):1043-1054
    [11] Tang A F,Li Y,Qu H,et al.Dynamic、modeling and simulating analysis of a wire driven parallel mechanism[J[Procedia Engineering,2011,15;788-794
    [12] 李忠群复杂切削条件高速铣削加工动力学建模、仿 真与切削参数优化研究[D]北京:北京航空航天大 学,2008 Li Z Q.Dynamic: modeling,simulation and optimization of high speed milling under complicated cutting conditions[D]Beijing; Beihang University,2008(in Chinese)
  • 加载中
计量
  • 文章访问数:  117
  • HTML全文浏览量:  32
  • PDF下载量:  6
  • 被引次数: 0
出版历程
  • 收稿日期:  2013-05-23
  • 刊出日期:  2014-12-05

目录

    /

    返回文章
    返回