三平移全柔性并联微动机器人机构静力学分析  

Static Forces Analysis of the Fully Compliant Three DOF Translational Parallel Mechanism

作　　者：杨启志[1] 马履中[1] 谢俊[1] 尹小琴[1] 梁庆磊[1] 

机构地区：[1]江苏大学机械工程学院

出　　处：《农业机械学报》2007年第11期110-113,共4页Transactions of the Chinese Society for Agricultural Machinery

基　　金：江苏省数字化制造技术重点建设实验室开放课题(项目编号:HGDML-0603);国家自然科学基金资助项目(项目编号:50375067);高等学校博士学科点专项科研基金资助项目(项目编号:20050299002);江苏大学高级人才启动基金资助项目(项目编号:JSGJ2006)

摘　　要：对新型非对称三平移并联机构{R∥R∥R∥P(4R)}∥{R∥R∥P(4R)∥R}⊥{R∥R∥R∥P(4R)}普通的转动关节全柔性化,形成非对称全柔性三平移微动并联机器人机构。利用"伪刚体模型"法,以普通的转动副加上等效的双向扭转弹性元件替代每个柔弹性关节,形成全柔性并联机器人机构的伪刚体等效模型。采用与"摩擦圆理论"分析法相似的力分析方法,分析了全柔性并联机器人机构的静力学问题,发现机构虽然具有优良运动解耦性,但其静力学性能较差。Based on the novel 3-DOF translational fully compliant parallel micro-robot {R//R//R//P （4R） }///{R//R//P （4R）//R } ⊥{R///R///R///P （4R） }, the traditional }oints were substituted by compliant ones, and the traditional parallel mechanism was transformed into the compliant micro-robot. Every compliant elastic joint was replaced by a traditional joint and a torsional spring using the pseudo-rigid-body model method. Finally, the pseudo-rigid-body model of the compliant parallel mechanism was established. Referring to the concept of ＂compliant friction-circle＂, the static forces analysis of the fully compliant three DOF translational parallel mechanism was studied by the friction-circle method. The results show that the static forces properties of the fully compliant mechanism are not good enough, though it has good kinematics properties.

关 键 词：并联机构 全柔性机构 伪刚体模型 静力学分析 

分 类 号：TH112.5[机械工程—机械设计及理论]