TPM手控器的弹性动力分析与参数优化  

Elastodynamic Analysis and Optimizing of the TPM Master-manipulator

作　　者：宁祎[1] 王红卫[2] 

机构地区：[1]郑州工业高等专科学校,河南郑州450007 [2]郑州轻工业学院,河南郑州450002

出　　处：《成组技术与生产现代化》2001年第2期8-11,共4页Group Technology & Production Modernization

基　　金：国家 8 63计划航天领域支持项目 (863- 2 - 4 - 1 - 1 7)

摘　　要：手控器结构设计的轻量化和宜人化 ,使其刚度和固有频率明显下降 ,仅限于刚体动力学分析已不能满足要求 .本文采用瞬时结构假定方法 ,建立了具有复杂空间并联机构的TPM手控器计算模型 .以有限元分析为工具 ,对其进行KED分析 ,探索设计参数与动态性能的内在关系 ,在此基础上对设计参数进行优化 。The master manipulator must be designed small and lightweight to meet requirements.However that reduces the stiffness and Natural Frequencies of master manipulator.The method of rigid body dynamic analysis is inadequate for the analysis of master manipulator.Based on the instantaneous structure manipulator assumption,the TPM master manipulator calculating model with complex parallel structure is presented. The kineto-elasto dynamic (KED)performance is analysed by using finite element method (FEM).The interrelationship of design parameters and dynamic property is studied,on the basis of this,the optimum design parameters of master manipulator are obtained,it is useful to guide the high accurate manipulator design.The results are satisfactory.

关 键 词：遥操作 手控器 KED分析 瞬时结构 参数优化 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]