一种可重构Stewart型并联机器人的静刚度分析  

Static Stiffness Analysis of a Reconfigurable Stewart Parallel Robot

作　　者：仇鑫 尤晶晶[1,2] 叶鹏达 王林康 Qiu Xin;You Jingjing;Ye Pengda;Wang Linkang(College of Mechanical and Eletronic Engineering,Nanjing Forestry University,Nanjing 210037,China;Jiangsu Key Laboratory of Precision and Mico-Manufacturing Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京林业大学机械电子工程学院,江苏南京210037 [2]南京航空航天大学江苏省精密与微细制造技术重点实验室,江苏南京210016

出　　处：《南京师大学报（自然科学版）》2022年第3期132-140,共9页Journal of Nanjing Normal University(Natural Science Edition)

基　　金：国家自然科学基金资助项目(51405237);国家留学基金资助项目(201908320035);江苏省精密与微细制造技术重点实验室开放基金资助项目。

摘　　要：以一种可重构Stewart型并联机器人为研究对象,对其静刚度特性进行了理论建模和软件仿真.首先,通过设计三重复合虎克铰链和可以转换主、从运动的移动副,实现了机器人的结构降耦和变拓扑驱动;然后,基于速度基点法推导出机器人的速度雅可比矩阵,并结合虚功率原理,推导出了一种高效、精确的静刚度计算模型;最后,运用SolidWorks Simulation静力学仿真软件分析了3种重构构型的静刚度特性,并将其与理论模型结果进行了对比.结果显示,理论结果与有限元结果基本吻合,最大相对误差为18.36%.研究思路为六自由度并联机器人的结构优化、性能分析提供了理论依据.The static stiffness characteristics of a reconfigurable Stewart parallel robot were modeled and simulated.Firstly,the structure coupling-reducing and the variable topology drive of the robot are realized by designing the triple composite hooker hinge and the prismatic joint that can transform the actuated and passive motion.Then,the velocity Jacobian matrix of the robot is derived based on the velocity basis point method,and combined with the principle of virtual power,an efficient and accurate static stiffness calculation model is derived.Finally,the static stiffness characteristics of the three reconstructed configurations are analyzed by using the statics simulation software of SolidWorks Simulation,and the results are compared with the theoretical model results.The results show that the theoretical results are consistent with the finite element results,and the maximum relative error is 18.36%.The research idea provides a theoretical basis for the structure optimization and performance analysis of the 6-DOF parallel robot.

关 键 词：并联机器人 重构 静刚度 雅可比矩阵 虚功率原理 

分 类 号：TH112[机械工程—机械设计及理论]