首页 | 本学科首页   官方微博 | 高级检索  
     检索      

一种新型两自由度高速并联机械手的弹性动力学分析
引用本文:胡俊峰,张宪民.一种新型两自由度高速并联机械手的弹性动力学分析[J].华南理工大学学报(自然科学版),2009,37(11).
作者姓名:胡俊峰  张宪民
作者单位:华南理工大学,机械与汽车工程学院,广东,广州,510640
基金项目:国家自然科学基金资助项目,国家杰出青年基金资助项目 
摘    要:对一种新型两自由度平动并联机械手进行弹性动力学分析. 采用有限元方法建立了并联机械手的弹性动力学模型.在该模型的基础上,分析了机械手在工作空间的前四阶固有频率的分布情况;研究分析了在外力和刚体惯性力激励下机械手动平台的位置误差;给出了构件在各个时刻的最大动应力及其出现的位置.研究分析表明:系统的固有频率与其位形有关;机械手动平台的位置误差主要是由高速运动时刚体惯性力引起的;机械手各个柔性构件的动应力谱是变幅应力谱.

关 键 词:高速并联机械手  弹性构件  运动弹性动力分析  动应力  固有频率  
收稿时间:2008-10-27
修稿时间:2009-1-17

Kineto-Elastodynamic Analysis of a Novel 2-DOF High-Speed Parallel Manipulator
Hu Jun-feng,Zhang Xian-min.Kineto-Elastodynamic Analysis of a Novel 2-DOF High-Speed Parallel Manipulator[J].Journal of South China University of Technology(Natural Science Edition),2009,37(11).
Authors:Hu Jun-feng  Zhang Xian-min
Abstract:Kineto-elastodynamic analysis is carried out for a novel planar parallel manipulator. Finite element method is applied to build the elasto-dynamic model of the manipulator. On the basis of the model, distribution of the first four order natural frequency is analyzed within workspace of the manipulator. Displacement error of moving platform is studied under excitations of external forces and inertial force. Maximum dynamic stress in each time and position of its occurrence are given. The results show that natural frequency is relevant to configuration of the manipulator; displacement error is mainly caused by inertial force; dynamic stress spectrum of each flexible is variable-amplitudes.
Keywords:high-speed parallel manipulator  elastic component  elastodynamics  dynamic stress  natural frequency
本文献已被 万方数据 等数据库收录!
点击此处可从《华南理工大学学报(自然科学版)》浏览原始摘要信息
设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号