液压驱动滚动并联机构运动可行性与仿真分析-中南大学学报.PDF

第 47 卷第 6 期 中南大学学报( 自然科学版) Vol.47 No.6 2016 年 6 月 Journal of Central South University (Science and Technology) June 2016 DOI: 10.11817/j.issn.1672-7207.2016.06.012 液压驱动滚动并联机构运动可行性与仿真分析 沈海阔，黄齐来，丁万，仝龙飞，姚燕安 (北京交通大学 机械与电子控制工程学院，北京，100044) 摘要：提出一种新型三自由度液压驱动滚动并联机构。各条支链采用液压缸驱动的反平行四边形机构，通过支链 的伸缩比放大作用实现并联机构整体的大变形，并利用液压系统响应快速、输出力强的特点，保证并联机构的移 动灵活性与大负载能力。描述该并联机构的组成、特定条件下的奇异位型以及 1 个翻滚步态周期的 5 种地面支撑 状态与给定机构参数下液压杆伸缩的可行域。对并联机构在 5 种地面支撑状态的运动可行性与可行域以及基于 ADAMSTM 对翻滚过程的动力学仿真进行分析。研究结果表明：该机构实现了翻滚运动，同时得到了运动过程中 液压缸的位移、伸缩速度与受力数据，可为实验样机设计与构型优化提供参考。 关键词：液压驱动；反平行四边形机构；滚动并联机构；运动可行性分析；动力学仿真 中图分类号：TG156 文献标志码：A 文章编号：1672−7207(2016)06−1906−10 Locomotion feasibility and simulation analysis for a rolling parallel mechanism with hydraulic driven SHEN Haikuo, HUANG Qilai, DING Wan, TONG Longfei, YAO Yan’an (School of Mechanical Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China) Abstract: A novel three-degree of freedom rolling parallel mechanism was proposed. Its each branch chain was driven by a hydraulic cylinder based on the anti-parallelogram mechanism. Large deformation of the overall appearance was obtained by taking advantage of the branches with their telescopic ratio amplification abilities. Flexible locomotion and large load capacity were guaranteed through the rapid response and powerful strength output of the hydraulic system. The mechanical configuration and the singular types under certain conditions of the mechanism were described. Five supporting states in one rolling period and the feasible region of the hydra