基于约束置换的双驱动微夹持器刚度分析

doi:10.3901/JME.2018.05.202

机械工程学报 ›› 2018, Vol. 54 ›› Issue (5): 202-209.doi: 10.3901/JME.2018.05.202

基于约束置换的双驱动微夹持器刚度分析

宫金良, 贾国朋, 张彦斐

山东理工大学机械工程学院淄博 255049

收稿日期:2017-03-18 修回日期:2017-08-17 出版日期:2018-03-05 发布日期:2018-03-05
通讯作者: 张彦斐(通信作者),女,1977年出生,博士,副教授。主要研究方向为宏微并联机器人结构设计及优化。E-mail:84374294@qq.com
作者简介:宫金良,男,1976年出生,博士,副教授。主要研究方向为并联机器人理论及装备、机电一体化技术。E-mail:gjlwing@sdut.edu.cn;贾国朋,男,1989年出生,硕士,主要研究方向为微动并联机器人性能分析及结构优化。E-mail:1985192674@qq.com
基金资助:
国家自然科学基金（61303006）和山东省优秀中青年科学家科研奖励基金（BS2012ZZ009）资助项目。

Rigidity Analysis of the Double Actuations Micro-gripper Based on Constraint Substitution

GONG Jinliang, JIA Guopeng, ZHANG Yanfei

School of Mechanical Engineering, Shandong University of Technology, Zibo 255049

Received:2017-03-18 Revised:2017-08-17 Online:2018-03-05 Published:2018-03-05

摘要/Abstract

摘要： 刚度是微动机构重要的性能指标之一，准确且简便的刚度求解方法是进一步对微动机构分析与优化的重要前提。为寻找更优的刚度求解方法，根据结构力学中的力法原理探讨了一种新的刚度求解思路：将微动机构视为超静定结构，并用未知力来置换其冗余约束，转化为相应的静定结构。然后通过位移协调求得未知约束力，对外力已知的静定结构进行位移求解，从而得到微动机构的刚度。同时根据平面型微动机构的结构特点对其进行了规范化与简化处理，最终建立了一种适用于平面型微动机构刚度求解的一般性方法，并实现了基于Matlab的规范化求解程序。最后，为验证该程序的求解精度，应用该程序求解了一种结构对称型双驱动微夹持器的整体刚度。通过与有限元方法分析结果的对比试验，表明该方法的刚度误差控制在5%以内，验证了方法的有效性和高精度特性。

关键词: 刚度, 力法, 微夹持器, 约束置换

Abstract: Rigidity is an important performance index of compliant micromanipulator. Accurate and efficient rigidity calculation method of compliant micromanipulator is the important guarantee of its structural analysis and optimization. To find out a better method, according to force method from structural mechanics a new idea for solving its rigidity is discussed. The compliant micromanipulator can be regarded as the statically indeterminate structure and it's redundant restraint can be replaced by unknown force to get the relative statically determinate structure. Solve the unknown force though the condition about harmony of displacement and then there will be a statically determinate structure with all known external force. Therefore rigidity of compliant micromanipulator can be solved by the common method. It is standardized and simplified according to the structural features of the planar compliant micromanipulator. Finally the common rigidity analysis method of planar compliant micromanipulator is built up and the normalized solving program is presented based on Matlab. At last, to test the program precision, rigidity of a compliant symmetrical gripper is obtained by this program. Results of the program are compared with that of finite element analysis. It is shown that the error is below 5%, proving the validation and precision of the presented method.

Key words: constraint substitution, force method, micro-gripper, rigidity

中图分类号:

TP242

宫金良, 贾国朋, 张彦斐. 基于约束置换的双驱动微夹持器刚度分析[J]. 机械工程学报, 2018, 54(5): 202-209.

GONG Jinliang, JIA Guopeng, ZHANG Yanfei. Rigidity Analysis of the Double Actuations Micro-gripper Based on Constraint Substitution[J]. Journal of Mechanical Engineering, 2018, 54(5): 202-209.

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基于约束置换的双驱动微夹持器刚度分析

Rigidity Analysis of the Double Actuations Micro-gripper Based on Constraint Substitution

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