一种新型两自由度柔性并联机械手的优化设计.pdf

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一种新型两自由度柔性并联机械手的优化设计.pdf

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一种新型两自由度柔性并联机械手的优化设计

32 4 ROBOT Vol.32, No.4 2010 7 Jul., 2010 DOI 10.3724/SP.J.1218.2010.00459 510640 TH112 A 1002-0446(2010)-04-0459-05 Optimal Design of a Novel 2-DoF Flexible Parallel Manipulator HU Junfeng ZHANG Xianmin (School of Mechanical Automotive Engineering, South China University of Technology, Guangzhou 510640, China) Abstract: For a novel 2-DoF (degree of freedom) high-speed parallel manipulator, optimal design of sectional parameters is carried out, and the optimal objectives are the dynamic performances of the system at the level of elastodynamics. First, the ﬁnite element method is applied to obtaining the elastodynamic equations of the system. Second, the sensitivity of the ﬁrst order natural frequency with respect to sectional parameters is analyzed to determine the design variables. Finally, two methods of optimal design are proposed to optimize the system. The results show that the methods can meet the needs of design. Keywords: parallel manipulator; ﬂexible part; optimal design; ﬁnite element method 1 Introduction 1-2