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投稿时间：2009-08-27 修订日期：2009-11-07
投稿时间：2009-08-27 修订日期：2009-11-07
中文摘要: 主动平衡器是一种能够实现柔性动力平衡的装置，由平面两自由度执行机构和控制电机组成，通过对其控制电机运动参数的设计来补偿机构动力性能的变化。鉴于该装置对机构输入扭矩变化的补偿作用不足，基于可调整机构的概念，提出一种具有可调整杆的主动平衡器的设计方法，即将主动平衡器执行机构的一个构件设计为杆长可变的可调整杆，通过对可调整杆杆长和控制电机转速函数的集成设计，对由负载变化引起的机构动力性能的改变进行补偿。提出基于灵敏度分析和优化设计的设计流程，以5R型主动平衡器为例给出了算例，结果表明：可调整杆的引入拓展了主动平衡器性能改善的设计空间，增强了其对机构动力性能，特别是对机构输入扭矩变化的补偿作用，具有更强的适应性。
Abstract:The flexibility to the variation of the dynamic effects of the active balancer was obtained by adjusting the speed trajectory of its control motor. Based on the concept of adjustable mechanisms, a method was presented for improving the compensation characteristics on the input torque of the aforementioned balancer. The main point was to let one of the link lengths of the basic linkage of the balancer adjustable. The design procedure based on sensitivity analysis and optimization was developed. By optimizing the length of the adjustable link together with the speed function of the control motor, effective compensation on the dynamic performance under different working conditions can be achieved. A 5R- based active balancer was taken as an example to illustrate the procedure. The results show that the introduction of the adjustable link expands the design space of the balancer for improvement of the dynamic performance, especially the compensation for the input torque and thus brings more flexibility in application.
文章编号：200900780 中图分类号： 文献标志码：
基金项目:国家自然科学基金资助项目(50335040,50405004,50875018)
作者简介:
引用文本：
张英,姚燕安,查建中.具有可调整杆的主动平衡器[J].工程科学与技术,2010,42(3):233-239.
Zhang Ying,Yao Yan'an,Cha Jianzhong.Active Balancer with an Adjustable Link[J].Advanced Engineering Sciences,2010,42(3):233-239.
引用文本：
张英,姚燕安,查建中.具有可调整杆的主动平衡器[J].工程科学与技术,2010,42(3):233-239.
Zhang Ying,Yao Yan'an,Cha Jianzhong.Active Balancer with an Adjustable Link[J].Advanced Engineering Sciences,2010,42(3):233-239.