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| 1 | 6自由度索并联机构的振动特性显示文摘6自由度索并联机构可以实现空间大范围的6自由度运动,在装配、对接和定位等应用中具有较大的优势。针对柔性绳索容易引起系统振动的特点,对6自由度索并联机构的振动特性进行分析。利用Newton-Euler方法建立系统的动力学模型,对动力学方程线性化获得系统的振动方程。在此基础上,得出各阶固有频率的分布情况,并分析一阶固有频率对结构参数的灵敏度特性。通过绳索受力频谱分析试验,获得6自由度索并联机构试验平台的一阶和二阶固有频率。试验结果与理论计算值接近,验证了所提方法的正确性。 | 刘志华 唐晓强 邵珠峰 王立平 | 2013 | 机械工程学报2013，49，3： | 12 |
| 2 | Stabilized Multi-domain Simulation Algorithms and Their Application in Simulation Platform for Forging Manipulator显示文摘Most researches focused on the analytical stabilized algorithm for the modular simulation of single domain,e.g.,pure mechanical systems.Only little work has been performed on the problem of multi-domain simulation stability influenced by algebraic loops.In this paper,the algebraic loop problem is studied by a composite simulation method to reveal the internal relationship between simulation stability and system topologies and simulation unit models.A stability criterion of multi-domain composite simulation is established,and two algebraic loop compensation algorithms are proposed using numerical iteration and approximate function in multi-domain simulation.The numerical stabilized algorithm is the Newton method for the solution of the set of nonlinear equations,and it is used here in simulation of the system composed of mechanical system and hydraulic system.The approximate stabilized algorithm is the construction of response surface for inputs and outputs of unknown unit model,and it is utilized here in simulation of the system composed of forging system,mechanical and hydraulic system.The effectiveness of the algorithms is verified by a case study of multi-domain simulation for forging system composed of thermoplastic deformation of workpieces,mechanical system and hydraulic system of a manipulator.The system dynamics simulation results show that curves of motion and force are continuous and convergent.This paper presents two algorithms,which are applied to virtual reality simulation of forging process in a simulation platform for a manipulator,and play a key role in simulation efficiency and stability. | HUANG Shunzhou ZHAO Yong WANG Hao LIN Zhongqin | 2014 | Chinese Journal of Mechanical Engineering2014，27，1： | 3 |
| 3 | 并联运动模拟平台的运动学分析显示文摘为获得某并联六自由度运动模拟平台的运动特性,以该平台的支链为研究对象,建立了各构件的坐标系,在此基础上通过上下平台间的矢量关系和转换矩阵实现平台的位置反解,构建其运动学模型,最后运用MATLAB对构造的运动学模型进行仿真,获得支链长度、伸长速度、伸长加速度的变化曲线。 | 郑伟杰 涂群章 潘明 张晓辰 冯霞 | 2014 | 装备制造技术2014，，4： | 0 |
| 4 | 六自由度动感平台不均衡受力条件下的动力学分析显示文摘文中研究了驾驶模拟系统中六自由度平台机构在不均衡受力条件下运动学和动力学特性。六自由度平台在使用过程中往往受力重心偏离上平台中心,导致6个电动缸受力不均衡。文中介绍了六自由度平台的特点,然后通过Pro/E软件建立了平台仿真模型,应用ADAMS软件对平台进行了运动学分析,最后对6个缸在不均衡条件下进行动力学分析。得到了不均衡受力对缸件的影响程度,为平台的合理使用提供一定依据。 | 黎先飞 梁小冬 唐毅 | 2013 | 机械工程师2013，，1： | 0 |
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