3-RSS/S并联机器人结构设计及力学分析  

Structural Design and Analysis of 3-RSS/S Parallel Robot

作　　者：李志瑶[1] 张月 曹福成[2] LI Zhiyao;ZHANG Yue;CAO Fucheng(College of Machinery and Vehicle Engineering,Changchun University,Changchun 130022,China;College of Electronic Information Engineering,Changchun University,Changchun 130022,China)

机构地区：[1]长春大学机械与车辆工程学院,长春130022 [2]长春大学电子信息工程学院,长春130022

出　　处：《长春大学学报》2020年第4期49-52,共4页Journal of Changchun University

基　　金：吉林省科技厅项目(20180201063YY)。

摘　　要：针对人体动态平衡训练问题,提出一种可满足其需求的3-RSS/S型并联机器人结构。利用UG软件设计并联机器人机械结构三维模型,并将模型导入Msc.Patran中,结合实际工况,对并联机器人进行模态及应力分析。在得出典型位置的固有频率及对应前三阶模态振型的情况下,施加负载,计算分析重力变形及极限位置的最大应力。实验仿真结果验证了并联机器人设计的合理性以及可靠性,能够满足康复训练需求。To solve the problem of dynamic balance training of human body,a 3-RSS/S parallel robot structure is proposed. The UG software is used to design a three-dimensional model of the mechanical structure of the parallel robot,and the model is imported into Msc.Patran. Based on the actual working conditions,the modal and stress analysis of the parallel robot is performed. Under the condition that the natural frequency of the typical position and the corresponding mode shape of the first three modes are obtained,a load is applied to calculate and analyze the maximum stress of gravity deformation and limit position. The experimental simulation results verify the rationality and reliability of the parallel robot design,and this design can meet the needs of rehabilitation training.

关 键 词：并联机器人 有限元分析 模态分析 应力分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]