| 弹性铰平面并联三自由度机器人连续刚度映射研究 |
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| 引用本文： | 赵延治,张洁,赵铁石.弹性铰平面并联三自由度机器人连续刚度映射研究[J].燕山大学学报,2008,32(4). |
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| 作者姓名： | 赵延治 张洁 赵铁石 |
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| 作者单位： | 1. 燕山大学机械工程学院,河北,秦皇岛,066004
2. 燕山大学里仁学院,河北,秦皇岛,066004 |
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| 摘 要： | 应用影响系数法求解了弹性铰平面并联3-RRR机器人的一阶、二阶影响系数,借助虚功原理建立了包含主、被动铰链弹性变形,杆件及其平台自重的连续刚度映射模型.与以往刚度模型区别在于,该连续刚度模型考虑了机构刚度变化的动态过程,从而使并联机器人刚度非线性映射还原.文中还结合刚度矩阵瑞利商定义了连续刚度判定指标七,绘制了刚度性能空间图,进一步探讨了该机构的方向刚度特性,为平面并联弹性铰机器人机构刚度的分析提供了一种新颖通用的方法.
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| 关 键 词： | 弹性铰 并联3-RRR机构 连续刚度 影响系数 |
Research on continuous stiffness mapping of planar parallel 3-DOF manipulator with flexible joints |
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| ZHAO Yan-zhi,ZHANG Jie,ZHAO Tie-shi.Research on continuous stiffness mapping of planar parallel 3-DOF manipulator with flexible joints[J].Journal of Yanshan University,2008,32(4). |
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| Authors: | ZHAO Yan-zhi ZHANG Jie ZHAO Tie-shi |
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| Institution: | ZHAO Yan-zhi 1,ZHANG Jie 2,ZHAO Tie-shi 1 (1. College of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China,2. Liren College,China) |
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| Abstract: | The first-order and second-order influence coefficient of planar parallel 3-RRR manipulator with flexible joints were sol-ved with the method of influence coefficient. Based on the principle of virtual work, continuous stiffness mapping model including the deformation of active and passive joints and gravities factor was established. Different from the traditional model, the stiffness nonlinear mapping was reverted considering the stiffness dynamic change. Combining Rayleigh quotient of the stiffnesss matri... |
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| Keywords: | flexible joints parallel 3-RRR manipulator continuous stiffness influence coefficient |
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