| 全柔性铰链平面并联微动机器人的静刚度性能分析 |
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| 引用本文： | 钟春华,杨春辉.全柔性铰链平面并联微动机器人的静刚度性能分析[J].华东交通大学学报,2012,29(2):68-71. |
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| 作者姓名： | 钟春华 杨春辉 |
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| 作者单位： | 华东交通大学信息工程学院,江西南昌,330013 |
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| 基金项目： | 江西省教育厅基金项目(GJJ11432) |
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| 摘 要： | 对全柔性铰链平面并联微动机器人(3-RRR)建立伪刚性模型,并利用MATLAB7.1软件编程计算出动平台理论输出位移和方位角,然后根据Lagrange方程能量守恒原理推出机构线性静刚度方程,最后应用ANSYS10.0软件对该机构进行有限元分析,发现有限元刚度值比理论值大25％左右,这是因为把柔性机构伪刚性化,实际柔性铰链不仅产生转动,还会产生伸长等运动,还需要进行实验修正.此研究方法对于该类机构的设计、刚度计算以及机构的动力学分析都有实际意义.
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| 关 键 词： | 并联机器人 微动机器人 运动学 静刚度 |
Static Stiffness Analysis of a Planar Parallel Manipulators with Monolithic Flexure Joints |
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| Zhong Chunhua
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Yang Chunhui.Static Stiffness Analysis of a Planar Parallel Manipulators with Monolithic Flexure Joints[J].Journal of East China Jiaotong University,2012,29(2):68-71. |
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| Authors: | Zhong Chunhua Yang Chunhui |
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| Institution: | (School of Information Engineering,East China Jiaotong University,Nanchang 330013,China) |
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| Abstract: | The pseudo-rigid model of 3-RRR planar parallel manipulators is established.The positions and orientation of the end-effector is analyzed by MATLAB7.1 software.The linear static stiffness equation of the agencies is inferred according to the Lagrange principle of conservation of energy.Finite element model of mechanism is analyzed to find the finite element stiffness value is 25% larger than the theoretical value.The method has the practical significance for design,stiffness control and dynamics analysis of institutions. |
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| Keywords: | parallel manipulators micro-motion manipulators kinematics model static stiffness |
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