4自由度混联机器人静刚度分析  

Stiffness Analysis of a 4-DOF Hybrid Robot

作　　者：汪满新[1] 王攀峰[1] 宋轶民[1] 赵学满[1] 黄田[1] 

机构地区：[1]天津大学机构理论与装备设计教育部重点实验室,天津300072

出　　处：《机械工程学报》2011年第15期9-16,共8页Journal of Mechanical Engineering

基　　金：国家高技术研究发展计划重点(863计划;2007AA042001);国家自然科学基金(51075295)资助项目

摘　　要：研究一种新型混联机器人模块-Bicept的半解析刚度建模方法。该模块由一含恰约束支链的2自由度平面并联机构和一与动平台末端串接的2自由度转头构成,是Tricept机器人的一种二维形式,具有制造成本低,工作空间大的特点,配以长行程导轨,可用于飞机壁板数字化自动制孔等场合。在完成2自由度并联机构位置逆解分析和变形分析基础之上,基于全变形雅可比矩阵建立该机构的静刚度半解析模型。建模中考虑了所有支链构件及铰链的弹性贡献,并侧重研究其恰约束支链弯曲刚度的精确建模问题。通过算例获得Bicept机器人面内静刚度在工作空间中的分布规律,并通过ANSYS有限元分析软件验证了计算结果的正确性。A semi-analytical approach for the stiffness modeling of a novel hybrid robot named Bicept is presented.The robot is composed of a 2-DOF planar parallel mechanism with two unconstrained active limbs and a properly constrained passive limb,plus a 2-DOF rotating head attached to the platform.The Bicept is a simplified 2D version of the well known Tricept robot,featuring low manufacturing cost and large workspace.The robot can be employed as a module to configure a robotic cell for automatic drilling or riveting in aircraft large structural components assembly by adding a translational motion along a long reference track.On the basis of the inverse position and deformation analyses,the stiffness modeling of the 2-DOF planar parallel mechanism within the Bicept is formulated by using the overall Jacobian and taking into account the compliances of all limb components and joints.Particular interest is placed upon the precise formulation of the bending stiffness matrix of the properly constrained passive limb.The stiffness distributions throughout the entire task workplace are evaluated and the modeling validity is verified by a commercial ANSYS software at two specific configurations.

关 键 词：刚度分析 并联机器人 

分 类 号：TG156[金属学及工艺—热处理]