基于变胞并联机构的多维隔振研究

摘要

在某些变激励和变环境的多维隔振中，目前应用的隔振理论和隔振技术存在诸多的缺陷，从而不能满足实际工程的隔振要求。给出了一种新颖的变胞并联机构，并以此为主体在选定的主动副处安装相应的弹簧阻尼系统建立了多维隔振平台。该变胞隔振平台存在两种形位，可以通过调整rT铰链的配置，使变胞机构变为3-CRR或者CRU -2CRR两种不同的并联机构。推导了隔振系统的运动学和动力学方程，对其模态、动力学特性和隔振效果进行了研究。仿真计算表明，在主动副处辅以适当的弹性和阻尼，可以实现隔振系统多维隔振，并可以通过设定系统的初始位置等获得不同的固有频率，从而适应不同的隔振工况要求。%Due to the fact that the existing isolation theories and technologies have many defects for multi-dimensional vibration isolations,they are unable to meet the needs of vibration isolation in practice engineering with excitation and environment varying frequently.A novel metamorphic parallel mechanism was proposed and taken as the main body of a multi-dimensional vibration isolation system where some springs and dampers were installed at the selected active joints to build a multi-dimensional vibration isolation platform. This platform had two configurations. The metamorphic mechanism could be changed into a 3-CRR mechanism or a CRU-2CRR parallel one just by adjusting the configurations of the rT joint.The kinematic and dynamic equations of the presented vibration isolation system were deduced,and then its modes,dynamic characteristics and the vibration isolation isolation effect of the vibration isolation platform were studied.The simulations showed that the platform has a good vibration effect with both two configurations, and it can isolate two sets of multi-dimensional vibrations.