北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (5): 1095-1101.doi: 10.13700/j.bh.1001-5965.2017.0349

• 论文 • 上一篇    下一篇

多维力加载装置动力学建模及加载试验

侯立果1, 王丹1, 安大卫2, 郭江真1, 陈五一1, 樊锐1   

  1. 1. 北京航空航天大学 机械工程及自动化学院, 北京 100083;
    2. 航空工业成都飞机工业(集团)有限责任公司 技术中心, 成都 610092
  • 收稿日期:2017-05-23 出版日期:2018-05-20 发布日期:2018-05-29
  • 通讯作者: 郭江真 E-mail:jzguo@buaa.edu.cn
  • 作者简介:侯立果,男,硕士研究生。主要研究方向:并联机构;郭江真,男,博士。主要研究方向:多维力加载技术。
  • 基金资助:
    一院高校联合创新基金(CALT201608)

Dynamic modeling and loading experiment of multi-dimensional loading device

HOU Liguo1, WANG Dan1, AN Dawei2, GUO Jiangzhen1, CHEN Wuyi1, FAN Rui1   

  1. 1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
    2. Technical Center, AVIC Chengdu Aircraft Industrial(Group) Co., Ltd., Chengdu 610092, China
  • Received:2017-05-23 Online:2018-05-20 Published:2018-05-29

摘要: 设计了一种基于6-PUS并联机构的多维力加载装置,可对目标施加多维时变载荷。首先,根据向量叠加原理和牛顿迭代法,分别推导了加载装置的运动学逆解与正解。其次,基于旋量理论,推导加载装置的速度和静力雅可比矩阵,建立动平台与各支链的运动学和静力学映射。再次,根据虚功原理,建立加载装置的动力学模型,并且通过对比Adams和MATLAB模型的仿真结果,验证动力学模型的正确性。最后,设计并完成多维力加载试验,验证加载装置的多维力加载能力,为后续的数控机床加载试验提供新的加载手段和理论基础。

关键词: 并联机构, 运动学, 动力学, 多维力加载装置, 数控机床

Abstract: A multi-dimensional loading device based on a 6-PUS parallel mechanism was designed to apply time-varying multi-dimensional loads to target. Firstly, according to the principle of vector superposition and Newton-Raphson method, the inverse and forward kinematics of loading device were analyzed. Secondly, based on the screw theory, the velocity and static force Jacobian matrix, which represent the kinematic and static mapping between the moving platform and actuations, were derived. Thirdly, according to the principle of virtual work, the dynamic model of loading device was established and validated by comparing the actuation forces derived from Adams and MATLAB simulation models. Finally, the multi-dimensional loading tests were designed and completed to verify the multi-dimensional loading ability of the device. The loading device provides a new loading method and theoretical basis for the loading tests of numerical control machine tools.

Key words: parallel mechanism, kinematics, dynamics, multi-dimensional loading device, numerical control machine tool

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