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以2F2R宏微机械臂为研究对象,采用有限元法建立其动力学模型。基于凸轮曲线理论,详细推导出等加速、5次多项式、变形梯形、摆线、合成正弦、变形正弦等多种运动曲线方程。在上述两方面工作基础上,研究分析了不同运动曲线对2F2R宏微机械臂末端弹性振动的影响及规律,这对该类宏微机械臂的运动轨迹规划具有很好的参考价值。
Taking 2F2R macro-microarm as the research object, the dynamic model was established by finite element method. Based on the cam curve theory, a series of equations of motion such as acceleration, polynomial of degree 5, trapezoidal shape, cycloid, synthetic sine and deformed sine are deduced in detail. Based on the above two aspects, the influence and regularity of different motion curves on the elastic vibration of 2F2R macro-micromanipulator are researched and analyzed, which has a good reference value for the motion trajectory planning of such macro-microarm.