一种新型大口径光栅拼接柔性定位机构刚度分析

doi:10.3901/JME.2018.13.117

机械工程学报 ›› 2018, Vol. 54 ›› Issue (13): 117-125.doi: 10.3901/JME.2018.13.117

• 特邀专栏：柔性机构及机器人 • 上一篇下一篇

一种新型大口径光栅拼接柔性定位机构刚度分析

邵忠喜, 吴石磊, 富宏亚

哈尔滨工业大学机电工程学院哈尔滨 150001

收稿日期:2017-07-26 修回日期:2017-11-30 出版日期:2018-07-05 发布日期:2018-07-05
通讯作者: 富宏亚(通信作者),男,1963年出生,教授,博士研究生导师。主要研究方向为纤维铺放技术,复合材料缠绕成型技术和非标数控设备研制等。E-mail:hongyafu@hit.edu.cn
作者简介:邵忠喜,男,1978年出生,博士,副研究员。主要研究方向为柔性并联机构、纤维铺放技术、数控技术、CAD/CAM技术等。E-mail:pshaozhongxi78@163.com;吴石磊,男,1991年出生,博士研究生。主要研究方向为大负载、高精度、高稳定性柔性并联机构的设计与分析。E-mail:wushilei12@stu.hit.edu.cn
基金资助:
国家自然科学基金（51475114）和黑龙江省自然科学基金（E201424）资助项目。

Stiffness Analysis of a Novel Flexible Positioning Mechanism for Large-aperture Grating Tiling

SHAO Zhongxi, WU Shilei, FU Hongya

School of Mechanical Engineering, Harbin Institute of Technology, Harbin 150001

Received:2017-07-26 Revised:2017-11-30 Online:2018-07-05 Published:2018-07-05

摘要/Abstract

摘要： 为满足大口径光栅拼接机构大行程、大负载、高精度、高稳定性的要求，提出一种基于正交结构的新型五自由度光栅拼接柔性并联机构。该机构采用三面正交、单点支撑的布局形式，适用于要求高刚度、大负载的场合，具有结构形式简单、运动精度高、稳定性高等特点。机构的刚度直接影响机构的定位精度、承载能力、稳定性等性能，针对光栅拼接柔性机构特殊的结构形式，结合单元刚度矩阵和矩阵位移法推导光栅拼接柔性机构的刚度模型。最后，采用ANSYS对比分析理论刚度模型结果与有限元模型结果。分析结果表明理论刚度模型计算结果与有限元分析结果基本吻合，证明理论刚度模型的合理性，为此类机构的刚度配置和机构优化设计提供了可靠的理论依据。

关键词: 刚度模型, 光栅拼接, 矩阵位移法, 柔性并联机构

Abstract: In order to meet the requirements such as large stroke, large load capacity, high precision and high stability for large-aperture grating tiling mechanism, a novel 5-DOF grating tiling flexible parallel mechanism based on orthogonal structure is proposed. The mechanism uses the structure layout of three orthogonal planes and single point supporting, suitable for high stiffness and large load capacity. And, it has the advantage of structural simplicity, high motion precision and high stability. Because the stiffness of the mechanism directly affects the motion accuracy, load capacity and stability, the stiffness model of the mechanism is obtained through combining unit stiffness matrix and matrix displacement method, according to the special structure of the grating tiling flexible mechanism. Finally, the result of theoretical stiffness model is compared with the finite element analysis based on ANSYS. The comparative result shows that the theoretical values and simulated values are anastomose essentially. The validity of the theoretical model is verified. It provides a reliable theoretical basis for the stiffness configuration and the optimization design of the mechanism.

Key words: complaint parallel mechanism, grating tiling, matrix displacement method, stiffness model

中图分类号:

TP242

邵忠喜, 吴石磊, 富宏亚. 一种新型大口径光栅拼接柔性定位机构刚度分析[J]. 机械工程学报, 2018, 54(13): 117-125.

SHAO Zhongxi, WU Shilei, FU Hongya. Stiffness Analysis of a Novel Flexible Positioning Mechanism for Large-aperture Grating Tiling[J]. Journal of Mechanical Engineering, 2018, 54(13): 117-125.

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一种新型大口径光栅拼接柔性定位机构刚度分析

Stiffness Analysis of a Novel Flexible Positioning Mechanism for Large-aperture Grating Tiling

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