一种新型柔性直线导向机构及其运动精度分析  

Novel compliant linear guiding mechanism and analysis of kinetic precision

作　　者：宗光华[1] 裴旭[1] 于靖军[1] 毕树生[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100083

出　　处：《光学精密工程》2008年第4期630-635,共6页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.50405007;No.50475002;No.50675007);北京科技新星基金资助项目(No.2006A13)

摘　　要：分析了Roberts柔性机构的伪刚体模型,说明对应某一行程,轨迹点P的位置存在最优解使其运动直线度最高,给出了一种直线度等值线图方法来确定最优解的大概位置,最后借助有限元方法做进一步的优化。由于单个Roberts机构只能提供点的直线运动,所以将两个Roberts机构并联得到一个柔性导向机构。对这种柔性导向机构进行了设计加工、仿真以及实验,结果表明,这类柔性导向机构经过优化后,在毫米级行程时垂直运动方向上的偏移<1μm,基本满足大行程、高精度柔性直线导向机构的要求。By analyzing the pseudo-rigid-body model of a Roberts mechanism, the location of point P was optimized to maximize the straight-line distance. A method based on the contour map of linearity was proposed to estimate the optimal value, and then the finite element analysis was used for a better adjustment. A compliant guiding mechanisms was designed and fabricated, for the linear guiding mechanism could be constructed by two Roberts mechanisms in parallel. The finite element analysis and experimental results show that after optimization, the axis-offset can be less than 1 μm while its stroke is large than 1 mm,which shows that this kinds of guiding mechanism can satisfy the requirements of large stroke and precision.

关 键 词：Roberts机构 柔性机构 直线导向机构 直线度 

分 类 号：TH132.3[机械工程—机械制造及自动化]