• CN:11-2187/TH
  • ISSN:0577-6686

›› 2005, Vol. 41 ›› Issue (8): 90-95.

• 论文 • 上一篇    下一篇

基于大行程柔性铰链的并联机器人刚度分析

孙立宁;董为;杜志江   

  1. 哈尔滨工业大学机器人研究所
  • 发布日期:2005-08-15

STIFFNESS ANALYSIS ON A WIDE-RANGE FLEXURE HINGE-BASED PARALLEL MANIPULATOR

Sun Lining;Dong Wei;Du Zhijiang   

  1. Robotics Institute, Harbin Institute of Technology
  • Published:2005-08-15

摘要: 基于大行程柔性铰链的并联机器人系统可以在立方厘米级的工作空间内提供亚微米级的运动精度。所采用的大行程柔性铰链的几何参数及其在空间内的布置,将会直接决定并联机器人的系统刚度,从而间接的影响整体系统的工作空间、承载能力和驱动负荷等一系列系统性能。提出了大行程柔性铰链基于刚度方程的弹性模型,采用刚度组集的方法并通过建立协调方程,构建得到整体系统的刚度模型。进而进行了系统刚度性能分析,得到系统刚度影响图谱,为这类新型的柔性并联机器人的设计与开发提供了有力依据。

关键词: 并联机器人, 刚度分析, 刚度矩阵, 柔性铰链

Abstract: The wide-range flexure hinge-based parallel manipulator system can provide sub-micron scale precision over the cubic centimeter scale workspace. The geometric parameters and spatial architecture of the utilized wide-range flexure hinges will influence the system stiffness directly, and impact indirectly the characteristics such as workspace, supporting capacity, driving burden and so on. The elastic model based on the stiffness equation is presented, and the stiffness model of the whole structure is constructed via the stiffness assembly and coordination equation. Based on this model, the stiffness char-acteristic is analyzed and the atlases of the stiffness influence are attained, which provide theoretical principles for designing and developing this kind of novel flexure parallel manipulator in further.

Key words: Flexure hinge, Parallel manipulator, Stiffness analysis, Stiffness matrix

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