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直线驱动型并联机器人反向动力学分析与验证 被引量:15
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作者 吴超宇 钱小吾 +2 位作者 余伟 于今 程敏 《农业机械学报》 EI CAS CSCD 北大核心 2017年第12期412-420,共9页
以直线驱动型并联机器人为研究对象,根据其几何结构模型,利用矢量法建立并联机器人的运动学模型,并得到其运动学逆解、速度和加速度模型。利用虚功原理建立反向动力学模型,分析机械系统中各个运动部件在虚位移下对应的广义力,推导出其... 以直线驱动型并联机器人为研究对象,根据其几何结构模型,利用矢量法建立并联机器人的运动学模型,并得到其运动学逆解、速度和加速度模型。利用虚功原理建立反向动力学模型,分析机械系统中各个运动部件在虚位移下对应的广义力,推导出其动力学方程,并确定其影响因素。给定动平台末端一个已知轨迹,反解出各个电机的力矩,分析得出惯性项是力矩的最大影响因素。通过ADAMS与Matlab联合仿真和负载特性试验,验证了动力学理论模型的正确性,为并联机器人的尺寸综合与轨迹规划奠定了理论基础,也为同类并联机器人控制器的研究与开发提供了理论支撑。 展开更多
关键词 直线驱动并联机器人 反向动力学 虚功原理 联合仿真 负载特性试验
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Dynamic behaviors of pretensioned cable AERORail structure
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作者 李方元 吴培峰 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第6期2267-2276,共10页
The AERORail, a new aerial transport platform, was chosen as the object of this work. Following a review of the literature on static behaviors, model tests on the basic dynamic mechanical characteristics were conducte... The AERORail, a new aerial transport platform, was chosen as the object of this work. Following a review of the literature on static behaviors, model tests on the basic dynamic mechanical characteristics were conducted. A series of 90 tests were completed with different factors, including tension force, vehicle load and vehicle speed. With regard to the proper tension and vehicle load, at a certain speed range, the tension increments of the rail's cable were proved relatively small. It can be assumed that the change of tension is small and can be reasonably ignored when the tension of an entire span is under a dynamic load. When the tension reaches a certain range, the calculation of the cable track structure using classical cable theory is acceptable. The tests prove that the average maximum dynamic amplification factor of the deflection is small, generally no more than 1.2. However, when the vehicle speed reaches a certain value, the amplified factor will reach 2.0. If the moving loads increase, the dynamic amplification factor of dynamic deflection will also increase. The tension will change the rigidity of the structure and the vibration frequency; furthermore, the resonance speed will change at a certain tension. The vibration is noticeable when vehicles pass through at the resonance speed, and this negative impact on driving comfort requires the right velocity to avoid the resonance. The results demonstrate that more design details are required for the AERORail structure. 展开更多
关键词 pretensioned cable AERORail structure dynamic bchavior model test vibration characteristic dynamic amplification factor influence line
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