| 3-DOF平面微动并联机器人的动-静态建模 |
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| 引用本文： | 刘平安.3-DOF平面微动并联机器人的动-静态建模[J].华东交通大学学报,2008,25(6):37-40. |
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| 作者姓名： | 刘平安 |
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| 作者单位： | 华东交通大学,机电工程学院,江西,南昌,330013 |
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| 基金项目： | 江西省教育厅2008年科研资助项目
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| 摘 要： | 在叠加变形原理基础上，利用柔性关节两端的广义力传递关系和位移传递关系，分别对微动并联机器人进行运动学建模和静力学建模，两者相结合构成系统的动-静态模型．对于大多数工作在低速、低频和工作空间较小的微动机器人都是适应的．以3-DOF平面并联微动机器人为例，介绍了整个建模过程和求解方法．相比应用伪刚体法进行的解析建模，模型精度有了大幅度的提高．
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| 关 键 词： | 变形叠加法 柔性关节 动-静态建模 |
Kinetostatic Modeling of 3 DOF Planar Parallel Micro-Motion Manipulator |
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| LIU Ping-an.Kinetostatic Modeling of 3 DOF Planar Parallel Micro-Motion Manipulator[J].Journal of East China Jiaotong University,2008,25(6):37-40. |
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| Authors: | LIU Ping-an |
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| Institution: | LIU Ping-an(School of Mechanical , Electrical Engineering,East China Jiaotong University,Nanchang 330013,China) |
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| Abstract: | Based on the Deformation Repetitive Addition （DRA）, the kinetostatic model combined with kinematics and static model of micro-motion manipulator is offered in this paper, by application of the transformations between general forces and between displacements and orientations on the lateral sides of the flexure hinge. This is applicable to most micro-motion manipulator which works under low speed, low frequency and within micro workspace in less than 100 um . The process, including modeling and solution, is introduced in detail by using a 3 DOF Planar Parallel Micro-Motion Manipulator as a case study. The precision resulted from this study has been highly improved with comparison to that obtained by pesuo-rigid body method. |
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| Keywords: | deformation repetitive addition(DRA) flexure hinge kinetostatic modeling |
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