2(3PUS+S)型并联机构驱动部件振动响应特性分析

本文以一种2(3PUS+S)并联机构模拟人工髋关节摩擦磨损试验为背景,针对目前机构驱动部件振动响应特性分析需要大量理论公式推导的问题,提出了一种驱动部件振动响应特性分析的方法。该方法主要以软件操作为主,简单易懂、测试精度高。本文抓住驱动部件的主体部分——滚珠丝杠副,使用SolidWorks对滚珠丝杠副进行三维建模,将模型导入Adams软件中,进行动力学分析,得到单个滚珠的撞击力曲线图；然后利用Workbench进行模态分析得到系统的固有频率和振型；最后,基于瞬态动力学理论,利用Workbench软件结合滚珠和滚道的撞击力以及系统的固有频率和振型,进行振动响应分析,得到了螺母的加速度振动响应曲线,结果表明：螺母加速度振动响应的振幅和测点位置有关。通过振动响应的分析,可以验证设备可靠性,也为以后的结构参数优化设计提供理论依据。

Vibration Response Analysis of 2(3PUS+S) Parallel Manipulator Drive Components

In this paper, a 2(3PUS+S) parallel manipulator is used to simulate the artificial hip joint friction and wear test. The analysis of the vibration response characteristics for the current drive components needs lots of theoretical formula derivation. In order to solve this problem, a method for analyzing the vibration response characteristics of a drive component is proposed. The method is mainly based on software operation, and does not need to spend a lot of time studying the theoretical derivation process, which is easy to understand and has high test accuracy. In this paper, the main part of the drive component is the ball screw pair. The SolidWorks was used to build three-dimensional modeling of the ball screw pair. The model was imported into the Adams software for dynamics analysis to obtain the impact force curve of a single ball. Workbench performed modal analysis to obtain the natural frequency and mode shape of the system. Finally, based on the transient dynamics theory, the Workbench software was used to combine the impact force of the ball and the raceway with the natural frequency and vibration mode of the system to analyze the vibration response. The Acceleration vibration response curve of nut was obtained. The results show that the amplitude of the acceleration vibration response of the nut is related to the position of the measuring point. Through the analysis of the vibration response, the reliability of the equipment can be verified, and the theoretical basis for the future optimization of the structural parameters can be provided.