李俊帅,马春生,李瑞琴,胡洋.3UPS+1RPU非对称并联机构的刚度与模态分析[J].包装工程,2017,38(5):127-131.
LI Jun-shuai,MA Chun-sheng,LI Rui-qin,HU Yang.Stiffness and Modal Analysis of 3UPS+1RPU Asymmetrical Parallel Mechanism[J].Packaging Engineering,2017,38(5):127-131. |
| 3UPS+1RPU非对称并联机构的刚度与模态分析 |
| Stiffness and Modal Analysis of 3UPS+1RPU Asymmetrical Parallel Mechanism |
| 投稿时间：2016-09-21 修订日期：2017-03-10 |
| DOI： |
| 中文关键词: 非对称 并联机构 有限元 静力学分析 模态分析 |
| 英文关键词: asymmetric parallel mechanism finite element static analysis modal analysis |
| 基金项目:国家自然科学基金（51275486） |
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| 中文摘要: |
| 目的 针对自动化包装过程中需要搬运重物和高工作精度的特殊应用要求，运用有限元法对3UPS+1RPU并联机构进行刚度与模态分析，找出机构刚度的薄弱环节和共振频率。方法 首先运用SolidWorks建立三维实体模型，然后导入到Ansys Workbench软件进行有限元分析。结果 通过静力学分析，得到了机构在某一工作位置时，2种不同受力情况下机构整体的变形云图、应力云图。然后进行模态分析，得出3UPS+1RPU并联机构一到六阶固有频率分别为34.5, 35.8, 50.1, 523.9, 526.7, 528.8 Hz，以及各阶频率下的振型。结论 找到了机构刚度的薄弱部位，并证明了机构的静刚度满足设计要求；找出了机构运动过程中易发生共振的位置，从而可有效避免或抑制机构运动工程中的共振现象。 |
| 英文摘要: |
| The work aims to carry out stiffness and modal analysis on parallel mechanism of 3UPS+1RPU in finite element method to find out weak link of mechanism stiffness and the resonance frequency regarding the special application requirement of carrying heavy objects and high working accuracy in the automatic packaging process. Firstly, the 3D model was established by SolidWorks software and then imported into Ansys Workbench for finite element analysis. The deformation cloud and stress cloud of the whole mechanism were obtained under two different forces at some working position. Through the modal analysis, the natural frequencies from first order to sixth order of 34.5, 35.8, 50.1, 523.9, 526.7, 528.8 Hz and the vibration mode of each order frequency of the 3UPS +1RPU parallel mechanism were obtained. It is concluded that the weak position of mechanism stiffness is discovered, proving that the static stiffness of the mechanism meets the design requirements. The resonance-prone position in the process of movement is found out, which can consequently avoid or suppress the resonance during the movement of mechanism. |
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