基于SOLIDWORKS和ANSYS的三自由度并联微动机器人力学性能分析  

Mechanical Performance Analysis of Three Degrees of Freedom Parallel Micromanipulator Based on ANSYS & SOLIDWORKS

作　　者：韩书葵[1] 刘卫[1] 田东兴[2] 

机构地区：[1]北华航天工业学院机电工程学院 [2]北华航天工业学院科学技术处,河北廊坊065000

出　　处：《北华航天工业学院学报》2016年第4期1-3,共3页Journal of North China Institute of Aerospace Engineering

基　　金：河北省教育厅项目(QN2014189)(QN20131061);北华航天工业学院基金项目(ZD2014-06)

摘　　要：为了解决并联微动机器人在运动过程中的力学性能问题,首先对并联机构的结构进行了分析,给出了三自由度并联机构的组成形式。在solidworks中建立了并联机构的三维模型,并将三维模型导入ANSYS软件中,在驱动关节加入载荷的情况下分析并联机构的各个位置受力大小,并给出并联机构在受到载荷作用时应力的变化情况,给出了机器人的四阶模态的变化情况,这些分析对于后期机器人的机构和尺寸设计奠定了基础。To solve the problem of mechanical performance of parallel micromanipulator in the process of movement, the structure of parallel mechanism is analyzed, and the form of three-degree of freedom parallel mechanism is given. The 3D model of parallel mecha- nism is established in the software SolidWorks and the three-dimensional model is imported into ANSYS software, analysis of each position of the parallel mechanism force size when driving joints are added loads. The paper gives the parallel mechanism changes under load stress the changes, and also the four-order modal of the robot, which laid the foundation for the later analysis of robot mechanism and the dimensions of design.

关 键 词：并联微动机器人 力学性能 模态 

分 类 号：TH242[机械工程—机械制造及自动化]