The collision and wear caused by inevitable clearance in kinematic pair have an effect on the dynamic characteristics of the mechanism.Therefore,we established the dynamic model of a 3RSR(R is the revolute joint and S...The collision and wear caused by inevitable clearance in kinematic pair have an effect on the dynamic characteristics of the mechanism.Therefore,we established the dynamic model of a 3RSR(R is the revolute joint and S is the spherical joint)parallel mechanism with spherical joint clearance based on the modified Flores contact force model and the modified Coulomb friction model using Newton-Euler method.The standard quaternion was introduced in the constraint equation,and the four-order Runge-Kutta method was adopted to solve the 3RSR dynamic model.The simulation results were compared and analyzed with the numerical results.The geometrical parameters of the worn ball socket were solved based on the Archard wear model,and the geometrical reconstruction of the worn surface was carried out.The geometric reconstruction parameters were substituted into the dynamic model,which was to analyze the dynamic response of the 3RSR parallel mechanism with wear and spherical joint clearance.The simulation results show that the irregular wear occurs in the spherical joint with clearance under the presence of the impact and friction force.The long-term wear will increase the fluctuation of the contact force,thereby decreasing the movement stability of the mechanism.展开更多
In view of the structure of traditional five-coord in ate machine tool, the work-piece and machine tool often move along their respec tive guides simultaneously on the whole. In this kind of machine structure, the tot...In view of the structure of traditional five-coord in ate machine tool, the work-piece and machine tool often move along their respec tive guides simultaneously on the whole. In this kind of machine structure, the total mass of moving parts including work-pieces, fixtures, rotating table, wor king table and so on is often very large. Besides, the elastic reform of transmi ssion and the viscous friction force of the guide can not be ignored. As a resul t, the machine tool can not move with high velocity and acceleration, and can no t meet the needs of modern fast and efficient production. The emergence of virtual-axis machine tool has provided a new approach for the solution of the above problems. The kernel of the virtual-axis machine tool is the parallel mechanism. So far, research of parallel mechanism in the world has achieved many results and various applied equipments based on parallel mecha nism have been worked out, but the research generally focuses on the working spa ce and kinematics analysis, dynamics are rarely considered. To meet the requirements of the modern fast and efficient production, reduce the cost and promote the machine tool’s acceleration character, not only should we analyze the kinematics of machine tool, but also we should study its dynamics a nd optimize the structure on the basis of analysis. In this paper, the kinem atics and dynamics of a 5-DOF (degrees of freedom) machine tool with novel para llel mechanism that has three moving DOF and one rotating DOF are studied by Rob ot-Wittenberg method. The dynamics character of the parallel robotic machine is analyzed and used to guide the structure design of machine tool. At last, the c orrectness is verified through a numerical simulation of 5-DOF. Hence, the dyna mics model can generally solve the problems existing in the parallel and hybrid machine tools. The dynamics character of the parallel robotic machine is studied and analyzed in quantity. The dynamics equation of the system can be written as This is a set of differential equations of four DOF system. Theoretically, the c losed solution of the forward and inverse problems can be gained by solving the above equations. The system equations quite suit to program at the computer. Whe n the forces are given, the state variables’ numerical solution can be gain ed through integral; and when the dynamics parameters are given, the forces can also be solved. But the multiple valued phenomena can not be avoided. We have developed simulation software based on the dynamics model presented by t his paper. The different effects of the structure parameters can be given by numerical simulation.展开更多
基金Project(2018YFB1307900)supported by the National Key R&D Program of ChinaProject(51775473)supported by the National Natural Science Foundation of China+3 种基金Projects(E2018203140,E2019203109)supported by the Natural Science Foundation of Hebei Province,ChinaProject(ZD2019020)supported by the Key Research Project in Higher Education Institutions of Hebei Province,ChinaProject(2017KSYS009)supported by the Key Laboratory of Robotics and Intelligent Equipment of Guangdong Regular Institutions of Higher Education,ChinaProject(KCYCXPT2017006)supported by the Innovation Center of Robotics and Intelligent Equipment of Dongguan University of Technology,China。
文摘The collision and wear caused by inevitable clearance in kinematic pair have an effect on the dynamic characteristics of the mechanism.Therefore,we established the dynamic model of a 3RSR(R is the revolute joint and S is the spherical joint)parallel mechanism with spherical joint clearance based on the modified Flores contact force model and the modified Coulomb friction model using Newton-Euler method.The standard quaternion was introduced in the constraint equation,and the four-order Runge-Kutta method was adopted to solve the 3RSR dynamic model.The simulation results were compared and analyzed with the numerical results.The geometrical parameters of the worn ball socket were solved based on the Archard wear model,and the geometrical reconstruction of the worn surface was carried out.The geometric reconstruction parameters were substituted into the dynamic model,which was to analyze the dynamic response of the 3RSR parallel mechanism with wear and spherical joint clearance.The simulation results show that the irregular wear occurs in the spherical joint with clearance under the presence of the impact and friction force.The long-term wear will increase the fluctuation of the contact force,thereby decreasing the movement stability of the mechanism.
文摘In view of the structure of traditional five-coord in ate machine tool, the work-piece and machine tool often move along their respec tive guides simultaneously on the whole. In this kind of machine structure, the total mass of moving parts including work-pieces, fixtures, rotating table, wor king table and so on is often very large. Besides, the elastic reform of transmi ssion and the viscous friction force of the guide can not be ignored. As a resul t, the machine tool can not move with high velocity and acceleration, and can no t meet the needs of modern fast and efficient production. The emergence of virtual-axis machine tool has provided a new approach for the solution of the above problems. The kernel of the virtual-axis machine tool is the parallel mechanism. So far, research of parallel mechanism in the world has achieved many results and various applied equipments based on parallel mecha nism have been worked out, but the research generally focuses on the working spa ce and kinematics analysis, dynamics are rarely considered. To meet the requirements of the modern fast and efficient production, reduce the cost and promote the machine tool’s acceleration character, not only should we analyze the kinematics of machine tool, but also we should study its dynamics a nd optimize the structure on the basis of analysis. In this paper, the kinem atics and dynamics of a 5-DOF (degrees of freedom) machine tool with novel para llel mechanism that has three moving DOF and one rotating DOF are studied by Rob ot-Wittenberg method. The dynamics character of the parallel robotic machine is analyzed and used to guide the structure design of machine tool. At last, the c orrectness is verified through a numerical simulation of 5-DOF. Hence, the dyna mics model can generally solve the problems existing in the parallel and hybrid machine tools. The dynamics character of the parallel robotic machine is studied and analyzed in quantity. The dynamics equation of the system can be written as This is a set of differential equations of four DOF system. Theoretically, the c losed solution of the forward and inverse problems can be gained by solving the above equations. The system equations quite suit to program at the computer. Whe n the forces are given, the state variables’ numerical solution can be gain ed through integral; and when the dynamics parameters are given, the forces can also be solved. But the multiple valued phenomena can not be avoided. We have developed simulation software based on the dynamics model presented by t his paper. The different effects of the structure parameters can be given by numerical simulation.
