具有可调整杆的主动平衡器

张英; 姚燕安; 查建中

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具有可调整杆的主动平衡器

机械工程 | 更新时间：2023-11-14

- 具有可调整杆的主动平衡器
- Active Balancer with an Adjustable Link
- 工程科学与技术 2010年42卷第3期页码：233-239
- 作者机构：
  
  北京交通大学机械与电子控制工程学院
- 作者简介：
- 基金信息：
  
  国家自然科学基金资助项目(50335040,50405004,50875018)
- DOI：
  中图分类号：
- 纸质出版日期：2010，
  
  网络出版日期：2009-11-7，
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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.
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. DOI：

Zhang Ying, Yao Yan'an, Cha Jianzhong. Active Balancer with an Adjustable Link[J]. Advanced Engineering Sciences, 2010,42(3):233-239. DOI：

摘要

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

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.

关键词

主动平衡可调整机构输入扭矩灵敏度分析平面连杆机构

Keywords

active balancingadjustable mechanismsinput torquesensitivity analysisplanar linkage

references

Zhang Ying ；Yao Yan-An ；Cha Jian-Zhong,AN INDEPENDENT ACTIVE BALANCER FOR PLANAR MECHANISMS,Transactions of the Canadian Society for Mechanical Engineering ,2007, 31(2).

Yao Y A;Yan H S;Zou H J.Dynamic design of variable speed planar linkages[J].Chinese Journal of Mechanical Engineering,2005(1)

Yu Y Q;Lin J,Active balancing of a flexible linkage with redundant drives,Journal of Mechanical Design,Transactions of the ASME,2003(3).

Thuemmel T,Dynamic balancing of linkage by active control with redundant drive,Milan,Italy,1995.

Liu Jianqin;Zhang Ce;Wang Yuxin.Kineto-elastodynamics analysis of a linkage with a variable length crank[J].Chinese Journal of Mechanical Engineering,2000(4)

Zhe Li,Sensitivity and robustness of mechanism balancing,Mechanism and Machine Theory ,1998, 33(7).

Yuan L;Rastegar J A,Systematic method for kinematics synthesis of high-speed mechanisms with optimally integrated smart materals,ASME Journal of Mechanical Design,2002(1).

Sakamoto Y;Ogawa K;Shimojima H,A dynamic analysis of an adjustable conveying machine,JSME International Journal,1987(266).

Erdman A G,Modern kinematics:developments in the last fony years,New York:John Wiley and Sons,Inc,1993.

张英平面机构的主动平衡研究 [D].

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