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首页> 外文期刊>Mathematical Problems in Engineering >Kinematics Performance and Dynamics Analysis of a Novel Parallel Perfusion Manipulator with Passive Link
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Kinematics Performance and Dynamics Analysis of a Novel Parallel Perfusion Manipulator with Passive Link

机译：新型带被动连杆并联灌装机的运动学性能和动力学分析

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摘要

In order to solve the problem of the honeycombs perfusion in the thermal protection system of the spacecraft, this paper presents a novel parallel perfusion manipulator with one translational and two rotational (1T2R) degrees of freedom (DOFs), which can be used to construct a 5-DOF hybrid perfusion system for the perfusion of the honeycombs. The proposed 3PSS&PU parallel perfusion manipulator is mainly utilized as themain body of the hybrid perfusion system. The inverse kinematics and the Jacobian matrix of the proposed parallel manipulator are obtained. The analysis of kinematics performance for the proposed parallel manipulator including workspace, singularity, dexterity, and stiffness is conducted. Based on the virtual work principle and the link Jacobianmatrix, the dynamic model of the parallel perfusion manipulator is carried out. With reference to dynamic equations, the relationship between the driving force and the mechanism parameters can be derived. In order to verify the correctness of the kinematics and dynamics model, the comparison of theoretical and simulation curves of the motion parameters related to the driving sliders is performed. Corresponding analyses illustrate that the proposed parallel perfusion possesses good kinematics performance and could satisfy the perfusion requirements of the honeycombs. The correctness of the established kinematics and dynamics models is proved, which has great significance for the experimental research of the perfusion system.
机译：为了解决航天器热保护系统中的蜂窝灌注问题，本文提出了一种新颖的具有一个平移自由度和两个旋转（1T2R）自由度（DOF）的并行灌注操纵器，可用于构造一个自由空间。 5-DOF混合灌注系统，用于灌注蜂窝。提出的3PSS＆PU并联灌流机械手主要用作混合灌流系统的主体。获得了所提出的并联机械手的逆运动学和雅可比矩阵。对所提出的并联机械手的运动学性能进行了分析，包括工作空间，奇异性，灵巧性和刚度。基于虚拟工作原理和链接雅可比矩阵，建立了并行灌注机械手的动力学模型。参照动力学方程，可以得出驱动力与机构参数之间的关系。为了验证运动学和动力学模型的正确性，对与驱动滑块有关的运动参数的理论曲线和模拟曲线进行了比较。相应的分析表明，所提出的并行灌注具有良好的运动学性能，可以满足蜂窝的灌注要求。证明了所建立的运动学和动力学模型的正确性，对灌注系统的实验研究具有重要意义。

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  • 来源
    《Mathematical Problems in Engineering》 |2018年第15期|6768947.1-6768947.18|共18页
  • 作者

    Yang Hui; Fang Hairong; Fang Yuefa; Qu Haibo;

  • 作者单位

    Beijing Jiaotong Univ Sch Mech Elect & Control Engn Robot Res Ctr Beijing 100044 Peoples R China;

    Beijing Jiaotong Univ Sch Mech Elect & Control Engn Robot Res Ctr Beijing 100044 Peoples R China|Beijing Jiaotong Univ Minist Educ Key Lab Vehicle Adv Mfg Measuring & Control Techn Beijing Peoples R China;

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