并联Roberts柔性机构及其微定位平台的结构与位移分析  

STRUCTURE AND DISPLACEMENT ANALYSIS FOR COMPLIANT PARALLEL ROBERTS MECHANISM AND MICRO-POSITIONING STAGE

作　　者：贺磊[1,2] 吉晓民[1] 杨先海[2] 王红梅[2] 

机构地区：[1]西安理工大学精密仪器与机械工程学院,西安710048 [2]山东理工大学机械工程学院,淄博255049

出　　处：《机械强度》2015年第6期1057-1063,共7页Journal of Mechanical Strength

基　　金：山东省自然科学基金项目(ZR2010EL004);山东省高等学校科研计划项目(J13B07)资助~~

摘　　要：分析了平行四杆柔性机构与并联Roberts柔性机构的伪刚体模型,并对其耦合位移进行了定性比较;利用闭环矢量法确定了Roberts机构特征点位置;建立了考虑轴漂的位移计算模型,与有限元仿真值相比该模型的最大相对误差仅为2.43%;将对称布置的并联Roberts柔铰机构应用于微定位平台,提出了一种3-PRR微动平台新结构,利用功能转化原理建立了整体机构的输入输出关系矩阵,并与试验结果作了对比,结果表明绕z轴转角的最大误差为5.60%。Pseudo-rigid-body model of compliant parallel four-bar mechanism and compliant Roberts mechanism was analyzed and the coupling displacement of it was compared qualitatively. Using closed loop vector method,the characteristic point position of Roberts mechanism was determined. The displacement calculation model was established considering the central shift of rotation. Compared with the simulation results of finite element,the maximum relative error of this model is only 2. 43%. The symmetrical compliant Roberts mechanism was applied on micro-motion platform,a new structure of 3- PRR micro-motion platform is proposed. Using the functional transformation theory,the input and output relational matrix was established.Compared with the experimental results,the result shows that the maximum error of angle around z axis is 5. 60%.

关 键 词：Roberts柔性机构 轴漂 有限元 微动平台 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]