摘要: |
受球铰链最大转角的影响,并联机构的最大倾角通常在30°左右。3-UPS/S并联转台的大倾角要求,需要有大转角空间的球铰链。本文首先建立了转台球铰链的无量纲模型,运用二维空间搜索的方法得到了最优的球铰链法线和球铰链最大转角。然后研究了转台参数对球铰链最大转角的影响,并选择了合适的转台初始角度。针对转台的大运动空间要求,对转台的参数和球铰链的参数进行了优化设计,最后对球铰链的转角和转台的运动空间进行了验证。为物理样机的设计制造提供了依据。 |
关键词: 3-UPS/S并联转台;球铰链;无量纲模型 |
基金项目:航空科学基金资助项目(20081651025);北京市重点实验室资助项目 |
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Optimization Research of Spherical Joints in 3-UPS/S Parallel Rotational Table |
Wei Minhe Han Xianguo Zhang Jun
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School of Mechanical Engineering and Automation, Beihang University, Beijing 100191
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Abstract: |
By the limits angle of the ball joints, the maximum nutational angle of parallel machine is 30 degree or so. This paper deals with the optimization of spherical joints to meet the large workspace of 3-UPS/S parallel rotational table. A dimensionless model of the rotational table and the optimization of the spherical joints’ normal line using two-dimensional search method were established firstly. Then, with the model and the optimization, the relationship between the structure parameters and the swing angle of the joints has been studied. Based on the results, the parameters of the rotational table and the joints were optimized to satisfy the table’s workspace. Finally, the swing angle of the joints and the workspace of the rotational table were verified. All these provided basis for the design and manufacture of the prototype. |
Key words: 3-UPS/S parallel rotational table;spherical joint;dimensionless model |