柔顺并联机构运动静力学建模与实验研究  

Kinetostatic Modeling and Experimental Research on a Large-Range Compliant Parallel Mechanism

作　　者：李荣[1] 余宏涛 张驰[1] 舒鑫东 LI Rong;YU Hong-tao;ZHANG Chi;SHU Xin-dong(Laboratory of Robotics and Intelligent Manufacturing Equipment Technology of Zhejiang Province,Ningbo Institute of Materials Technology and Engineering,Chinese Academy of Sciences,Zhejiang Ningbo 315201,China)

机构地区：[1]中国科学院宁波材料工程与技术研究所,浙江省机器人与智能制造装备技术重点实验室,浙江宁波315201

出　　处：《机械设计与制造》2024年第8期156-159,165,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金联合基金项目(U1609206);国家自然基金青年基金项目(51905523)。

摘　　要：柔顺并联机构具有无摩擦、无磨损、无间隙、整体加工和较少装配等优点,广泛应用于微/纳米定位领域。针对大行程平面柔顺并联机构,提出了基于柔度矩阵法的运动静力学建模方法。应用该方法,建立了3-PPR平面柔顺并联机构的运动静力学模型。为进一步验证模型的正确性,设计了基于三轴激光干涉仪和NI数据采集模块的多传感信号同步数据采集系统,并搭建了实验装置,实现了对机构驱动力、关节位移和末端位移的数据采集与分析。实验结果验证了实验方法的可行性和模型的正确性。Compliant parallel mechanisms are widely used in the micro-/nano-positioning stages because of the advantages such as no friction,no wear,no backlash,monolithic manufacturing,and minimal assembly.A kinetostatic modeling method based on the compliance matrix method is proposed for a large-range planar compliant parallel mechanism.By applying the method,a kinetostatic model of a 3-Prismatic-Prismatic-Revolute compliant parallel mechanism is established.In order to verify the model,an experimental setup based on laser interferometers is established.The actuation forces,the displacements of the active prismatic joints and end-effector are acquired by the NI data acquisition system.Finally,the experimental results verify the feasibility of the experimental procedure and the correctness of the developed model.

关 键 词：大行程 柔顺并联机构 运动静力学 LABVIEW 激光干涉仪 

分 类 号：TH16[机械工程—机械制造及自动化]