重载并联运动模拟台机构动力特性分析

提出一种适用于重载的6UPS-3UPS/UPU-R并联运动模拟台机构。采用电液混合的驱动方式,该机构具有平衡负载重力的特点。对机构进行了动力学分析,得到了平衡平台对运动平台的作用力和电机扭矩计算表达式。提出了平衡效率指标,并研究了平衡分支相关参数对平衡效率的影响。分析了液压缸对运动平台受力和电动缸驱动力的作用。数值分析表明,平衡液压缸的存在能够有效降低电机扭矩,该并联运动模拟台机构能够以较低的制造成本满足高精度、重载的应用需求。

Analysis on Dynamics Characteristic of Heavy-load Parallel Motion Simulation Platform Mechanism

A 6UPS-3UPS/UPU-R parallel motion simulation platform mechanism with the capacity to carry heavy load was presented. Driven by electro-hydraulic hybrid, the mechanism could compensate the gravity of the load. Calculation formulas of the force acting on moving platform exerted by the balance platform and the motor torque were obtained by analyzing the dynamics of the mechanism. The balance efficiency was presented, and then the influence of relevant parameters of the balance branches on balance efficiency was researched. The effects of hydraulic cylinders on the force of moving platform and the drive of electric cylinders were got. The numerical analysis indicates that the balance hydraulic cylinder can decrease the motor torque effectively, and the parallel motion simulation platform mechanism can satisfy the application requirements of high precision and heavy load with low manufacturing cost.