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基于3-P(4S)构型设计并研制了一种直线电机驱动的、平衡位姿可调的变结构并联多维振动台.运用约束螺旋理论分别对子闭环初始安装为平行四边形和梯形的两种构型进行自由度特性分析.建立两种构型的运动学位姿模型,研究机构位姿输出与驱动输入的关系,通过迭代搜索法求解梯形安装时机构的非线性约束方程组.根据位姿分析,分别用反解搜索法和正解遍寻法得到两种初始安装条件下机构的可达工作空间以及梯形安装时的伴随转角空间.通过数值算例验证理论分析结果,对机构进行运动仿真,研究不同装配结构下振动台机构的运动输出特性.依据理论分析与仿真结果进行实物样机运动实验,将理论计算、仿真分析和实验的结果进行对比,进一步验证了理论分析的正确性以及样机工程应用的可行性.
Based on the 3-P (4S) configuration, a linear motor-driven parallel variable multi-dimensional vibrating table with variable pose and adjustable pose was designed and developed.Using the theory of constrained spiral, the two closed- The kinematic attitude and posture model of two configurations is established to study the relationship between the pose and output of the mechanism and the driving input and the iterative search method is used to solve the nonlinear constrained equations of the trapezoidal mounting mechanism.According to the pose The reachable search method and the positive solution method are respectively used to get the reachable working space of the mechanism and the conformable corner space of the trapezoid installation under the two initial installation conditions.A numerical example is used to verify the theoretical analysis results, The motion output characteristics of the vibrating table mechanism under different assembly structures are studied.According to the theoretical analysis and simulation results, the physical prototype motion experiment is carried out, the theoretical calculation, simulation analysis and experimental results are compared to verify the correctness of theoretical analysis and the application of prototype engineering Feasibility.