馈能悬架并联机构动力学分析

摘要

针对传统馈能悬架机械效率低、机构复杂等特点,设计一种简单且高效的少自由度并联机构馈能悬架系统.该系统可以将汽车悬架的垂直运动转化为机构的旋转运动,并带动电机发电.以少自由度并联机构为研究对象,首先采用旋量理论分析该机构实现空间一转一移运动的机构学原理,建立雅克比矩阵,对该机构的正逆位置进行分析,并定义支载力评价指标.然后利用拉格朗日法建立该馈能系统的动力学模型,应用数值方法对该机构的可行性进行分析,最后利用ADAMS对该机构进行运动学和动力学进行仿真分析.数值计算与仿真结果的误差不超过3%,验证了该算法和所建模型的正确性,也为该机构应用到车辆馈能悬架提供了参考.%Aiming at resolving the low mechanical efficiency and complicated structure of the traditional energy-regenerative suspension, a simple and efficient lower-mobility parallel mechanism model is designed to convert the vertical motion from the vehicle suspension into the rotary motion. On the study of this mechanism, the principles for the motions are analyzed based on the screw theory.Then the Jacobian matrix of the mechanism is derived to analysis the positive and inverse position and the load capacity performance evaluation index is defined on the basis of the Jacobian matrix. Based on Lagrange methods, the dynamic equations of the parallel manipulator and the energy-regenerative suspension were established. The feasibility of the parallel mechanism was analyzed by the numerical examples and the simulation of the kinematics and dynamics were carried out by ADAMS software.And the two results errors were not more than 3%.It verified the correctness of the analysis method.Also,it applied the mechanism to the energy-regenerative suspension for reference.