整体弹性关节平面并联微动机器人ANSYS有限元分析  

Finite element kinematics modeling of planar parallel manipulators with monolithic flexure Joints

作　　者：杨春辉[1] 刘平安[1] 

机构地区：[1]华东交通大学,南昌330013

出　　处：《机械设计与制造》2007年第3期73-75,共3页Machinery Design & Manufacture

摘　　要：对整体弹性关节平面并联机器人建立刚性模型,采用闭环线型原理建立理论运动学线性模型(Jacobian矩阵),然后用ANSYS软件对其进行有限元分析,得到有限元运动学模型(Jaco-bian矩阵值),最后讨论两者关系,发现有限元模型比理论模型要精确。A method of deriving a linear and effective kinematic model based on the loop closure theory this paper is built. This method is illustrated with a Parallel Micro-moving flexure joint robot. Then the finite element analysis whh ANSYS software to it is carried on.The finite element kinematics model （Jacobian matrix value） is obtained. Finally ,that the finite element model is more precise than the theoretical model is discoveried.

关 键 词：并联机器人 微动机器人 有限元分析 运动学模型 

分 类 号：TP242.21[自动化与计算机技术—检测技术与自动化装置]