空间冗余索驱动并联机构的耦合振动特性研究

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摘要针对大型空间结构的在轨装配任务，提出了索驱动并联机构的方案，对其振动特性进行了研究。首先基于微分变换推导了机构的刚度矩阵，在此基础上建立了索并联机构的振动方程。其次，通过理论计算分别分析了运动平台的位姿以及绳索拉力水平对机构振动特性的影响，并通过仿真研究了不同工况下机构的振动规律。最后，搭建了空间冗余索并联机构的缩比样机并开展了机构的振动特性实验，进一步验证了振动模型的正确性以及仿真结果的有效性。结果表明，运动平台在中心位置处时各阶模态是解耦的，不同方向的振动相互独立；在边缘位置处，各阶模态具有强耦合性，单方向的干扰力会引起多个方向的振动，且振动频率以一、二阶固有频率为主。研究结果对于索并联机构的振动控制具有指导意义。

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	于金山1
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关键词 ：索并联机构, 刚度, 振动特性, 固有频率

Abstract：Aiming at the on-orbit assembly task of large space structures, a scheme of cable-driven parallel mechanism(CDPM) is proposed, and its vibration characteristics are studied. Firstly, the stiffness matrix of the mechanism is deduced based on differential transformation. The vibration equation is established on this basis, and the analytical expressions of each order mode are obtained. Secondly, the influence of the pose of the moving platform and the level of cable tension on the vibration characteristics of the mechanism is analyzed through theoretical calculation, and the vibration law of the mechanism under different working conditions is studied through simulation. Finally, a scaled prototype of the CDPM is built and the vibration characteristics experiment of the mechanism is carried out, which further verifies the correctness of the vibration model and the validity of the simulation results. The results show that when the moving platform is at the center position, the modes of each order are decoupled, and the vibrations in different directions do not affect each other. At the edge position, the modes of each order have strong coupling, and the disturbance force in one direction will cause vibration in multiple directions. The vibration frequency is mainly the first and second order natural frequencies. The research results have guiding significance for the vibration control of CDPM.

Key words： CDPM stiffness vibration characteristic inherent frequency

收稿日期: 2022-03-10 出版日期: 2023-03-15

引用本文:

于金山1，陶建国1，王国星2，李潇3，王浩威3. 空间冗余索驱动并联机构的耦合振动特性研究[J]. 振动与冲击, 2023, 42(5): 295-304.
YU Jinshan1, TAO Jianguo1, WANG Guoxing2, LI Xiao3, WANG Haowei3. Coupled vibration characteristics of spatial redundant cable-driven parallel mechanism. JOURNAL OF VIBRATION AND SHOCK, 2023, 42(5): 295-304.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2023/V42/I5/295

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