论文部分内容阅读
针对Tricept并联机构在加工过程中的振动现象,文中对其弹性动力学性能开展了研究。利用动态子结构综合法建立了基于Lagrange方程的Tricept并联机构的弹性动力学模型。根据Tricept并联机构自身结构特点对其进行单元划分,分别利用有限单元法构造各支链弹性单元动力学模型,并结合变形协调条件和动力学约束,建立整机弹性动力学解析模型。根据该弹性动力学模型,得到了Tricept并联机构在其工作空间内的固有频率特性和末端刚度。所建立的模型便于探讨机构结构参数对系统动态特性的影响规律,从而为这类并联机构的动态设计提供理论依据。
Aiming at the vibration phenomenon of Tricept parallel mechanism in the process of machining, the dynamic behavior of Tricept is studied. The dynamic dynamics model of Tricept parallel mechanism based on Lagrange equation is established by using dynamic substructure synthesis method. Based on the structure of the Tricept parallel mechanism, the dynamic mechanical model of each elastic unit is constructed by using the finite element method. The elastic dynamic model of the whole machine is established based on the deformation coordination and dynamic constraints. According to the elastic dynamics model, the inherent frequency characteristics and the terminal stiffness of the Tricept parallel mechanism in its working space are obtained. The established model facilitates the study of the influence of structural parameters of the system on the dynamic characteristics of the system, thus providing a theoretical basis for the dynamic design of such parallel mechanisms.