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一种冗余驱动协调机构的偏载稳定性分析
  • ISSN号：0577-6686
  • 期刊名称：机械工程学报
  • 时间：2012.1.1
  • 页码：7-12
  • 分类：TP242[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
  • 作者机构：[1]上海交通大学上海市数字化汽车车身工程重点实验室,上海200240, [2]上海交通大学机械系统与振动国家重点实验室,上海200240
  • 相关基金：国家自然科学基金（51075259 50821003）; 国家重点基础研究发展计划（973计划 2007CB714003）; 上海市科委重点攻关计划（10111100203）; 教育部新世纪优秀人才支持计划（NCET-10-0579）资助项目
  • 相关项目：基于势能分配的操作机构刚度分布评价与静刚度综合
作者： 孙卫东|王皓|赵勇|
关键词： 冗余驱动, 运动稳定性, 偏载, Redundant actuator Motion stability Uneven load
中文摘要：

针对冗余重载驱动器存在偏载的问题,提出一种具备偏载自协调的冗余驱动机构设计方案。根据机构几何约束关系,建立该机构的位置约束方程及速度、加速度关系式,运用虚功形式的动力学普遍方程,建立该机构的动力学模型。在此基础上,运用拉格朗日定理和李雅普诺夫稳定性理论,对该机构的偏载稳定性进行分析,得出了该机构稳定性与协调杆结构弯曲角之间的关系。基于所建立的动力学模型,运用相平面法,及对驱动器偏载率进行分析,分析了某一具体机构实例的偏载稳定性,分析结果验证了理论结果的正确性。研究结果表明,在协调杆结构弯曲角大于180°的条件下,当受扰动产生偏载时,该机构可以通过自动调节,保持其运动稳定性,且具有回复到匀载状态的趋势。

英文摘要：

Aiming at the problem of motion stability of the redundantly actuating mechanism caused by uneven load,one scheme of the redundantly actuating mechanism is proposed.The position,velocity and acceleration equations are established on the basis of geometric constraints,and the dynamical model is established based on the principle of virtual work.Then,the stability of this mechanism is analyzed by use of the Lagrange theorem and the Lyapunov stability principle,and the relationship between bending angle of the coordinate link and stability is obtained.The correctness of the analysis is proved by an example study,which is analyzed by use of the method of phase plane and the analysis of uneven load ratio of the driving cylinder.The results demonstrate that this mechanism under offset load causing by perturbation keeps stable by self-coordination,and has the trend of backing to even load,only if the bending angle of the coordinate link is larger than 180 degrees.

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期刊论文 69 获奖 10 著作 3
基于势能分配的操作机构刚度分布评价与静刚度综合
期刊论文 10 会议论文 1 专利 1
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期刊信息
  • 《机械工程学报》
  • 中国科技核心期刊
  • 主管单位:中国科学技术协会
  • 主办单位:中国机械工程学会
  • 主编：宋天虎
  • 地址：北京百万庄大街22号
  • 邮编：100037
  • 邮箱：bianbo@cjmenet.com
  • 电话：010-88379907
  • 国际标准刊号：ISSN：0577-6686
  • 国内统一刊号：ISSN：11-2187/TH
  • 邮发代号:2-362
  • 获奖情况:
  • 中国期刊奖,“中国期刊方阵”双高期刊
  • 国内外数据库收录:
  • 俄罗斯文摘杂志,美国化学文摘（网络版）,荷兰文摘与引文数据库,美国工程索引,美国剑桥科学文摘,日本日本科学技术振兴机构数据库,中国中国科技核心期刊,中国北大核心期刊（2004版）,中国北大核心期刊（2008版）,中国北大核心期刊（2011版）,中国北大核心期刊（2014版）,中国北大核心期刊（2000版）
  • 被引量:58603