柔顺关节并联机器人固有频率分析.pdf

第42卷 第8期 北 京 工 业 大 学 学 报 Vol.42 No.8 2016年 8月 JOURNAL OF BEIJING UNIVERSITY OFTECHNOLOGY Aug. 2016 柔顺关节并联机器人固有频率分析 1,2 1 李摇 渊 ,余跃庆 (1.北京工业大学机械工程与应用电子技术学院,北京摇 100124;2.大同大学煤炭工程学院,山西 大同摇 037003) 摘摇 要:为了解含有片簧式柔顺关节的并联机器人振动特性,基于含有片簧式柔顺关节的并联机器人动力学方程, 建立了频率方程,并对系统固有频率在机器人运动过程以及工作空间的变化情况进行分析,同时对理论轨迹、软件 仿真轨迹与名义轨迹的差值进行幅频特性分析来说明理论计算结果和软件仿真结果的正确性,也相互验证了频率 方程和幅频特性分析方法的正确性. 关键词:并联机器人;柔顺关节;固有频率 中图分类号:U461;TP308 文献标志码:A 文章编号:0254-0037(2016)08-1138-06 doi:10.11936/ bjutxb2015090078 Natural Frequency Analysis of Parallel Robot With Compliant Joints 1,2 1 LI Yuan ,YU Yueqing (1.College of Mechanical Engineering and Applied Electronics,Beijing University of Technology,Beijing 100124,China; 2.Coal Engineering College,Datong University,Datong037003,Shanxi,China) Abstract:To obtain the vibration characteristics of the parallel robot with leaf鄄spring compliant joints, the frequency equation wasproposed on the dynamics equations,based on the dynamics equations of the parallel robot with leaf鄄spring compliant joints,the frequency equation was proposed,and the natural frequencies of the system changed in the robot motion andwork spacewere analyzed. At the same time, the amplitude鄄frequency characteristics of differences of the theoretical trajectory, software simulations and the nominal trajectory were analyzed to prove that the theoretical calculations and the software simulationswere correct. Simultaneously the frequency equation and amplitude鄄frequency characteristic analysis method were verified the validity to each