2(3PUS+S)并联机构驱动部件振动模型分析

为了改善一种新型的2(3PUS+S)并联机构的驱动部件对整个并联机构运动稳定性的影响,对该并联机构的驱动部件振动模型进行了深入的分析。先通过混合法建立驱动部件的轴向振动模型和扭转振动模型,再通过拉格朗日方程法得到扭转和轴向振动模型的固有频率和振型,然后将数据导入MATLAB软件中进行编程计算、数值模拟仿真。结果表明:轴向振动固有频率随着滑块的位置升高而减少,对于扭转振动固有频率,低阶固有频率随着滑块的位置升高而增加,高阶固有频率则呈现和轴向振动固有频率相似的规律。可见通过对驱动部件振动模型的分析,对提高整个并联机构运动稳定性具有指导性意义。

Analysis of Vibration Model of Drive Components of 2(3PUS+S) Parallel Hip Joint

In order to improve the influence of the driving component of a new-type 2 (3PUS+S) parallel bionic hip joint mechanism on the motion accuracy and positioning accuracy of the whole mechanism, this paper deeply analyzes the vibration model of the driving component of the parallel hip joint testing machine. Firstly, the axial vibration model and the torsional vibration model of the driving component are established by the hybrid method. Then the natural frequency and vibration mode of the torsion and axial vibration model are obtained by the Lagrange equation method, and then the data is imported into the MATLAB software to calculate the numerical value. Simulation simulation; the results show that the test machine drive component slider is in different positions, and the natural frequency of the system and the natural frequency of the torsional and axial vibration models also change. It can be seen that by analyzing the natural frequency of the system and the relationship between the natural frequency of the torsion and axial vibration model and the slider of the driving component, it is of great significance to analyze the dynamic characteristics of the system.