燕山大学学报2017，Vol.41Issue(3)：230-234,5.DOI:10.3969/j.issn.1007-791X.2017.03.005
基于含等效球铰的3-RPS自调平升降机静力学研究
Statics study of automatic leveling lifts based on 3-RPS with equivalent spherical hinge
摘要
Abstract
In order to solve the problem that the folding-arm lifts have difficulties working on the slope, the design scheme of automatic leveling lift based on a 3-RPS parallel manipulator is put forward by the combination of the parallel manipulator and the series manipulator, the requirements of the spherical angle range is also taken into account.In order to correctly analyze the strength and stiffness of the structure, a complete static model of the lift is deduced by establishing the static balance equation and the Jacobian matrix between the moving platform and the branching and folding arms.The static model of the 3-RPS parallel manipulator with equivalent spherical hinge is studied. The static model of the 3-RPS parallel manipulator with equivalent spherical joint is validated by comparing the traditional static model of the 3-RPS parallel manipulator by example 1, the influence of the radial force on the hydraulic cylinder is determined by example 2 and the method for reducing the radial force of the hydraulic cylinder is obtained.This study provides a theoretical basis for the statics study of other parallel manipulator with equivalent spherical hinges.关键词
升降机/自调平/3-RPS/等效球铰/静力学Key words
lift/automatic leveling/3-RPS/equivalent spherical hinge/statics分类
机械制造引用本文复制引用
刘天柱,吕传毅,贺磊..基于含等效球铰的3-RPS自调平升降机静力学研究[J].燕山大学学报,2017,41(3):230-234,5.基金项目
山东省自然科学基金资助项目( ZR2014EEM046) （ ZR2014EEM046）
