基于凸轮曲线理论的2F2R宏微机械臂振动特性分析  

Analysis of the Vibration Characteristic of 2F2R Macro-micro Manipulator based on Cam Curve Theory

作　　者：高胜[1] 赵璇[1] 张飘石[1] 杨帅[2] 任福深[1] 

机构地区：[1]东北石油大学机械科学与工程学院,黑龙江大庆163318 [2]武警森林指挥部直升机支队装备处,黑龙江大庆163000

出　　处：《机械传动》2016年第11期155-160,共6页Journal of Mechanical Transmission

基　　金：国家科技支撑计划项目(2012BAH28F03);黑龙江省领军人才梯队后备带头人资助项目

摘　　要：以2F2R宏微机械臂为研究对象,采用有限元法建立其动力学模型。基于凸轮曲线理论,详细推导出等加速、5次多项式、变形梯形、摆线、合成正弦、变形正弦等多种运动曲线方程。在上述两方面工作基础上,研究分析了不同运动曲线对2F2R宏微机械臂末端弹性振动的影响及规律,这对该类宏微机械臂的运动轨迹规划具有很好的参考价值。Taking the 2F2R macro micro manipulator as study object, its model is established by using the finite element method. Based on the cam curve theory, the equations of motion curve such as the acceleration, the 5 degree polynomial, the deformed trapezoid, the cycloid, the synthetic sine, and the deformed sine are derived in detail. Based on the above two aspects of works, the effect and rule of different motion curves on the elastic vibration of manipulator end are studied, which has a good reference value for the trajectory planning of this type of manipulator.

关 键 词：2F2R宏微机械臂 凸轮曲线 弹性振动 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]