含间隙空间并联机构刚柔耦合动力学分析与试验OA

In order to accurately predict the dynamics characteristics of the spatial parallel mechanisms under the combined action of joint clearances and component elasticity,a 3-RRPaR spatial parallel mecha-nism was taken as the research object,and rigid-flexible coupling dynamics model of the mechanisms was established with clearances.The fourth-order Runge-Kutta method and the generalized α algorithm were used to solve the dynamics model.The dynamic output responses such as displacement,velocity and accel-eration of the moving platform of rigid body dynamics model with clearances and the rigid-flexible coupling dynamics model with clearances were compared and analyzed.An experimental platform was built to verify the correctness of the dynamics analysis results.The results show that the elastic deformations of the com-ponents may aggravate the velocity and acceleration fluctuation of the mechanisms,and the increase of the clearance values may lead to the increase of fluctuation of dynamic output response.