三平移全柔性并联微动机器人机构静力学分析.pdfVIP

2 0 0 7年11月 农 业 机 械 学 报 第38卷第1l期 平移全柔性并联微动机器入机构静力学分析* 三 杨启志 马履中 谢 俊 尹小琴 梁庆磊 【摘要】 对新型非对称三平移并联机构{R∥R∥R／／P(4R))／／{R／／R／／P(4R)／／R}-上-{R∥R∥R／／P(4R))普 通的转动关节全柔性化，形成非对称全柔性三平移微动并联机器人机构。利用“伪刚体模型”法，以普通的转动副加 上等效的双向扭转弹性元件替代每个柔弹性关节，形成全柔性并联机器人机构的伪刚体等效模型。采用与“摩擦圆 理论”分析法相似的力分析方法，分析了全柔性并联机器人机构的静力学问题，发现机构虽然具有优良运动解耦 性，但其静力学性能较差。 关键词：并联机构 全柔性机构 伪刚体模型 静力学分析 中图分类号：THll2．5 文献标识码：A Static Forces Analysis of the Fully Compliant Three DOF Translationai Parailei Mechanism Yang Qizhi Ma Lt~zhong XieJun Yin Xiaoqin Liang Qinglei (JiangsuUniversity) Abstract Based on the novel 3一DOF translational fully compliant parallel micro—robot {R∥R∥R／／P(4R))∥{R∥R／／P(4R)∥R)上{R∥R∥R／／P(4R))，the traditional joints were substituted by compliant ones，and the traditional parallel mechanism was transformed into the compliant micro—robot．Every compliant elastic joint was replaced by a traditional joint and a torsional spring using the pseudo—rigid—body model method．Finally。the pseudo—rigid—body model of the compliant parallel mechanism was established．Referring to the concept of“compliant friction-circle”。the static forces analysis of the fully compliant three DOF translational parallel mechanism was studied by the friction—circle method．The results show that the static forces properties of the fully compliant mechanism are not good enough，though it has good kinematics properties。 Key words Parallel mechanism，Fully compliant mechanism，Pseudo—rigid—body model， Static forces analysis 构 。对于具有集中柔度的全柔性机构(1umped 引言 compliance compliant mechanism，简称LCCM)，其 全柔性机