Design And Research Of Five Degree Of Freedom Vibration Absorber With Three Translations And Two Rotations Based On Parallel Mechanism

With the development of science and industry, there are more and more harmful vibrations in engineering goods, single-degree-of-freedom vibration system can not meet the requirement for the products. So multi-DIM vibration is a puzzle that needs solving at home and abroad, there is great significance to find a type of device that has the effect of multi-DIM vibration absorber.Supported by the National Science Foundation project—systematic theory of design and nonlinear decoupling control of multi-DIM vibration absorber imitating rubber(50375067), this paper firstly presents that using three translations and two rotations 5-DOF (3T-2R-5-DOF) parallel mechanism as the main mechanism of five-DIM vibration absorber and installing elastic damping system at the actuators of mechanism. So energy absorption and power adaptive balance can be realized, and then, multi-DIM vibration absorption is realized.Firstly, based on the topology structure theory of single-opened-chain, the types of limbs are constructed and new (3T-2R-5-DOF) limbs are putted forward, which have expanded the types of the (3T-2R-5-DOF) limbs. Combining all the (3T-2R-5-DOF) limbs with some exsisted (6-DOF) limbs, the assemble way of the limbs of mechanism was designed. Therefore, abundant (3T-2R-5-DOF) parallel mechanisms have been got. The correctness of new parallel mechanisms has been test by the software of ADAMS.Secondly, based on the analysis of theory and simulation in ADAMS, three types of parallel mechanisms whose structure is relatively rational are chosen to be the reference of follow-up study. This paper does the kinematics and dynamics analyses of the selected one. Kinematics analysis includes analyzing of forward and inverse position. The analytical expression formulation is gotten from the inverse position, and the numeral solution is solved by equations because the forward position equation is difficult to achieve analytical solution. The workspace of the moving platform's reference point is searched with the MATLAB program about the analytical expression formulation. The matrix of Jacobian is solved from the forward position expression formulation, it is very complicated too, so only the numeral solution is got. The analyses of singular configuration is done depending on the matrix of Jacobian, meanwhile, the dynamic analysis is ready to do. The principle of dynamic applicatted on the mechanism is given. The prototype of machine is designed in Pro/E software, and its characteristic curve of vibration absorber system is given by ADAMS software.Analysis described above has announced the performance of the mechanisms selected. Its performance in vibrating is good. It acts with high accuracy under the situation of avoiding singular configuration. The method that using 5-DOF parallel mechanism as the main mechanism of five-DIM vibration absorber can realize good vibrating character depending on the further investigation about mechanism of 5-DOF parallel mechanism.