• CN:11-2187/TH
  • ISSN:0577-6686

›› 2006, Vol. 42 ›› Issue (3): 77-82.

• 论文 • 上一篇    下一篇

一种基于固有频率分析的液压6自由度并联机构参数优化方法

王伟;谢海波;傅新;杨华勇   

  1. 浙江大学流体传动及控制国家重点实验室
  • 发布日期:2006-03-15

OPTIMAL METHOD OF STRUCTURAL PARAMETERS FOR HYDRAULIC 6-DOF PARALLEL PLATFORM BASED ON NATURAL FREQUENCY

WANG Wei;XIE Haibo;FU Xin;YANG Huayong   

  1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University
  • Published:2006-03-15

摘要: 液压6自由度并联机构存在固有频率低成本高体积大的缺点,在动态响应要求较高的场合使用常用的优化方法较难得到最佳性能,提出了基于固有频率的参数优化方法,建立了数学模型。考虑了液压系统主要运动部件活塞杆和油缸的摆动惯量,经过准确性验证后分析了液压缸面积、构件质量和结构尺寸等参数对系统固有频率的影响,实现了参数的优化。该优化方法简单、精确、高效,为固有频率较低的液压6自由度平台的参数优化及固有频率指标校核提供了新的理论研究手段,对实际工程具有指导意义。

关键词: Stewart平台, 固有频率, 优化, 模具温度场, 耦合, 热冲压, 时均热流密度

Abstract: The hydraulic Stewart platform has characteristics of low natural frequency, high cost and large size which make it difficult to obtain optimum performance with high dynamic response. A new optimal method for Stewart platform based on natural frequency is presented. The numerical model for the platform especially considering both the swing inertia of the cylinder and the piston is developed. Influences of structural parameters such as the cylinder area, the mass and the dimensions of different parts on natural frequency are analyzed. The optimal method has advantages of high precision and efficiency, which provides a new theoretical research technique to optimize the structural parameters as well as to check the results of the actual natural frequency. This new method is valuable for design and optimization for hydraulic Stewart platform.

Key words: Natural frequency, Optimization, Stewart platform, Coupling, Hot stamping, Temperature field, Time-averaged heat flux

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