柔性支撑并联机构振动特性及抑振控制研究

项目名称： 柔性支撑并联机构振动特性及抑振控制研究

项目编号： No.51205224

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 机械工程学科

项目作者： 邵珠峰

作者单位： 清华大学

项目金额： 25万元

中文摘要： 柔性支撑并联机构具有工作空间大、承载能力强、功耗小和造价低等优点，在航天和航空领域显现出巨大的应用潜力。然而由于柔性支撑并联机构出现较晚，研究成果有限，亟待有针对性的深入研究。申请人在前期研究中发现，抑振控制是柔性支撑并联机构工程应用的关键难点之一，该问题的解决依赖于其整体动力学建模和振动特性分析。因此，本申请拟首先建立柔性支撑的弹性动力学模型和基础平台运动的并联机构的刚体动力学模型，在明确内部耦合特性的基础上，联立获得柔性支撑并联机构的整体动力学模型，并进行实验验证和修正。然后，根据整体动力学模型，进行仿真分析，确定柔性支撑并联机构的力和振动特性。最后，依据振动特性的分析结果，有针对性的提出柔性支撑并联机构的抑振控制方法，进行模型实验研究，提高系统稳定性和终端轨迹精度。本项目的研究能够解决动力学建模和抑振控制两大问题，推动柔性支撑并联机构的理论研究和工程实践的发展。

中文关键词： 柔性支撑；并联机构；动力学建模；抑振控制；动态特性

英文摘要： The parallel manipulator with flexible support has many advantages, such as large workspace, high load capacity, low power consumption and cheap to build, which shows great application potential in aviation and aerospace fields. However, due to the late appearance, little research effort has been paid on the parallel manipulator with flexible support. Thus, thorough research is needed to be carried out urgently. Our preliminary research shows that: a key challenge of the parallel manipulator with flexible support lies in the vibration control, which must be discussed on the basis of entire dynamic model and vibration analysis. So, in this application, firstly, dynamic models of the flexible support and the parallel manipulator with moving base are established, the coupling characteristics are determined, and the entire dynamic model of the parallel manipulator with flexible support is obtained accordingly. Besides, the entire dynamic model is verified and amended with physical model experiments. Then, based on the obtained dynamic model, the force and vibration characteristics are analyzed through numerical simulations. Finally, according to the vibration characteristic, the vibration control strategy is proposed and experimented with for the parallel manipulator with flexible support, to improve the system stab

英文关键词： Flexible support；Parallel manipulator；Dynamic modeling；Vibration control；Dynamic characteristics