| 可重构混联机械手TriVariant与Tricept的静动态特性预估与比较 |
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| 引用本文： | 王友渔,赵兴玉,黄田,赵学满,梅江平.可重构混联机械手TriVariant与Tricept的静动态特性预估与比较[J].天津大学学报(自然科学与工程技术版),2007,40(1):41-45. |
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| 作者姓名： | 王友渔 赵兴玉 黄田 赵学满 梅江平 |
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| 作者单位： | 天津大学机械工程学院,天津300072 |
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| 基金项目： | 国家自然科学基金;天津市科技攻关项目 |
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| 摘 要： | 深入研究并联机构的静、动态特性，对并联机械手的方案设计和使用有重要意义．为此，借助予结构综合思想和ANSYS参数化设计语言，构造了两种可重构五自由度混联机械手模块TriVariant与Tricept的有限元模型，研究了并联构型装备处于不同位形时的整机有限元模型快速重构技术，以及机构中各种铰链的精确建模方法，并系统分析和比较了两种机械手的静、动态特性．研究结果表明，当尺度、弹性和惯性参数相同时，二者具有极为相似的静、动态特性．
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| 关 键 词： | 并联构型装备 有限元分析 静、动态特性 |
| 文章编号： | 0493-2137（2007）01-0041-05 |
| 修稿时间： | 2006-03-172006-07-10 |
Estimation and Comparison of Static and Dynamic Performance of Two Reconfigurable Hybrid Robots——the TriVariant and the Tricept |
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| WANG You-yu,ZHAO Xing-yu,HUANG Tian,ZHAO Xue-man,MEI Jiang-ping.Estimation and Comparison of Static and Dynamic Performance of Two Reconfigurable Hybrid Robots——the TriVariant and the Tricept[J].Journal of Tianjin University(Science and Technology),2007,40(1):41-45. |
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| Authors: | WANG You-yu ZHAO Xing-yu HUANG Tian ZHAO Xue-man MEI Jiang-ping |
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| Institution: | School of Mechanical Engineering, Tianjin University, Tianjin 300072, China |
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| Abstract: | It is significant for the design and application of parallel manipulators to study the static and dynamic performance of parallel kinematic machines. Finite element models of two 5-DOF reconfigurable hybrid robots, the TriVariant and the Tricept, were established by the technique of substructure synthesis and ANSYS parametric design language. An effective modeling strategy was developed for the rapid static and dynamic performance estimation of the whole machine at different configurations, and the precise finite element analysis formulation of different types of joints was studied. Then the static and dynamic performance of two robots was systemically analyzed. The results show that the two robots have similar static and dynamic performance provided identical geometrical dimensions, elastical and inertial parameters. |
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| Keywords: | parallel kinematic machines finite element analysis static and dynamic performance |
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