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为实现较大工作空间的运动,设计了一种大长径比的3-PPSR结构的微操作柔性并联机器人.该机器人由压电马达驱动,采用大长径比柔性铰链连接,柔性铰链的变形范围在毫米级,适用于要求大变形的场合,同时具有结构简单、无奇异、无间隙、运动精度高等特点.由于系统的刚度直接影响系统的运动精度、承载负荷等性能,针对大长径比柔性铰链特点,运用有限元方法,建立了柔性铰链的数学模型,并采用整体刚度的方法,结合机构协调方程和力平衡方程,得到系统的柔性刚度模型.最后,采用ANSYS比较了所建理论刚度模型结果与有限元模型分析的结果.分析结果表明,理论刚度模型合理,符合机构的运动特征.
In order to realize the movement of larger work space, a micro-manipulated flexible parallel robot with large aspect ratio 3-PPSR structure is designed.The robot is driven by a piezoelectric motor with a large aspect ratio flexible hinge connection, the flexible hinge deformation The range of millimeters, suitable for applications requiring large deformation, and has the characteristics of simple structure, no singularity, no gap, high precision.As the system stiffness directly affects the system’s motion accuracy, load capacity and other performance, for large aspect ratio Flexible hinge, the mathematical model of the flexible hinge is established by using the finite element method, and the system of the flexible stiffness model is obtained by using the method of integral stiffness and the mechanism coordination equation and force balance equation.Finally, the theoretical stiffness The results of the model and the finite element model analysis show that the theoretical stiffness model is reasonable and accords with the movement characteristics of the mechanism.