• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2004, Vol. 40 ›› Issue (11): 82-87.

• 论文 • 上一篇    下一篇

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基于压电陶瓷驱动的并联微动机器人静力学及其微动平台的静刚度分析

张建军;高峰;陈玉龙;赵辉   

  1. 河北工业大学机械工程学院;燕山大学机械工程学院;北京航空航天大学机器人研究所
  • 发布日期:2004-11-15

STUDY ON STATICS AND STIFFNESS OF PARALLEL MICRO-MANIPULATORS WITH PZT ACTUATORS

Zhang Jianjun;Gao Feng;Chen Yulong;Zhao Hui   

  1. College of Mechanical Engineering, Hebei University of Technology College of Mechanical Engineering, Yanshan University Institute of Robotics, Beijing University of Aeronautics and Astronautics
  • Published:2004-11-15

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摘要： 并联微动机器人通过弹性铰链的弹性变形实现终端平台的微运动，静力学和静刚度是微动机器人必须解决的问题。充分考虑弹性铰链的弹性反力/力矩，对6-PSS并联微动机器人进行静力学分析，建立了压电陶瓷驱动力与微动平台外载的关系模型，并定义了微动机器人的驱动刚度矩阵。基于并联微动机器人的特殊性，定义了微动平台的刚度，通过静刚度分析推导出了微动平台刚度矩阵，为并联微动机器人结构刚度设计、弹性铰链刚度综合和动力学分析提供了理论基础。

关键词: 并联微动机器人, 静刚度, 静力学, 压电陶瓷驱动

Abstract: A parallel micro-manipulator adopts flexible joints and their flexible deformation realizes micro-movement of the end-effector, in which statics and stiffness are main problems. Considering the deformation force or moment of the flexible joints sufficiently, statics problem of a 6-PSS parallel micro-manipulator is studied, a relationship model between PZT actuator force and load effected on the end-effector is builted, and driving stiffness matrix is defined. As the particularity of a micro-manipulator, its stiffness is defined and rigidity matrix is educed. It presents a theory basis for structure stiffness design, flexible joints stiffness synthesis and dynamics analysis of micro-manipulators.

Key words: Parallel micro-manipulator, PZT actuator, Statics, Stiffness

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