并行机器人结构刚度有限元数值模拟  

FEM Numerical Simulation for Stiffness Analysis of a Parallel Robot Via Modularity

作　　者：吴镇[1] Grigore Gogu 于蒙[3] 

机构地区：[1]武汉大学动力与机械学院机械工程系 [2]Mechanical Engineering Research Group French Institute for Advanced Mechanics Aubèire France63175 [3]武汉理工大学物流工程学院

出　　处：《武汉理工大学学报（交通科学与工程版）》2006年第4期583-586,共4页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：国家留学基金委员会(CSC)资助

摘　　要：通过有限元数值模拟对并行机器人的结构刚度进行了分析,并行机器人的刚度可以通过有限元数值模拟方法对其进行分析.基于子结构的概念并鉴于大多数并行机器人都具有结构对称性特征,提出了一种有效的数值模拟方法——模块设计方法,并通过一个应用实例显示了这种方法的有效性.对数值模拟结果进行了整理并在此基础上绘制了Isog lide3-T 3并行机器人的刚度图.In this paper, FEM numerical simulation is performed for stiffness analysis of a parallel robot. Static stiffness is a mechanical characteristic that describes the behavior of a structure under static force in terms of elastic deflection and can be evaluated for robotic manipulators by means of Finite Element Method numerical simulation. On the base of the concepts of substructure and structural symmetry possessed by most parallel robots, an efficient approach to perform numerical simulation of parallel robots is presented. An application case is given to show the effectiveness of this approach. Stiffness map for the lsoglide3-T3 is also provided.

关 键 词：并行机器人 刚度 有限元 模块设计方法 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]