[1]彭斌彬,李增明,武凯,等.二自由度平移并联机器人空间静刚度分析[J].南京理工大学学报(自然科学版),2012,36(03):522-528.
 PENG Bin-bin,LI Zeng-ming,WU Kai,et al.Spatial Static Stiffness Analysis of 2-DOF Translational Parallel Robots[J].Journal of Nanjing University of Science and Technology,2012,36(03):522-528.
点击复制

二自由度平移并联机器人空间静刚度分析
分享到:

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
36卷
期数:
2012年03期
页码:
522-528
栏目:
出版日期:
2012-06-30

文章信息/Info

Title:
Spatial Static Stiffness Analysis of 2-DOF Translational Parallel Robots
作者:
彭斌彬; 李增明; 武凯; 孙宇;
南京理工大学机械工程学院;
Author(s):
PENG Bin-binLI Zeng-mingWU KaiSUN Yu
School of Mechanical Engineering,NUST,Nanjing 210094,China
关键词:
并联机器人 静刚度 虚拟机构法 叠加原理 正交变换法
Keywords:
parallel robots static stiffness virtual mechanism method superposition principle orthogonal transformation method
分类号:
TP242
摘要:
为提高一种二自由度平移并联机器人机构静刚度分析的准确度,该文建立了六维空间静刚度模型,并对主刚度及主方向做出评价。考虑机构的驱动刚度、结构刚度和空间外载荷3个因素对整机静刚度产生的影响,对机构的支链和滚珠丝杠进行静力学分析,求出它们的变形。采用虚拟机构法并根据输入输出之间的速度映射关系分别得到支链和滚珠丝杠引起动平台产生的位姿变形,再由小变形叠加原理推导出机构的整体变形。根据空间外力及外力矩与机构整体变形之间的关系,建立机构的整体空间静刚度模型。基于正交变换法,分析机构的最大最小线位移和角位移刚度的特性。研究结果表明该二自由度平面平移并联机器人机构的静刚度是空间六维的,沿导轨轴线方向的静刚度具有各向同性,垂直于导轨轴线方向的静刚度与其位置有关。
Abstract:
To improve the accuracy of static stiffness analysis for a kind of two-degree-of-freedom(DOF) translational parallel robot,a six-dimension space static stiffness model is established,and the main stiffness and main direction are evaluated.Considering the effects of the driving stiffness,structure stiffness of the mechanism and spatial external load on the static stiffness of the mechanism,the compound limbs and ball screws of the mechanism are analyzed by the static analysis,and the corresponding deformations are calculated.The pose deformations of the moving platform caused by compound limbs and ball screws are obtained using the virtual mechanism method and according to the velocity mapping relation between input and output.The total deformations of the mechanism are derived through the superposition principle at small strain.According to the relationships between the spatial external load and the total deformation of the mechanism,the total spatial static stiffness model of the mechanism is established.The stiffness characteristics of the maximum and minimum angle displacement and line displacement for the mechanism are discussed based on the orthogonal transformation method.The results show that:the static stiffness of the two DOF planar translational parallel robot is six-dimension,the static stiffness along the axis of guide is isotropy,and the static stiffness perpendicular to the axis of guide is related to the position at the direction.

参考文献/References:

[1] Javad E,Akbarzadeh T A. A novel approach for forward position analysis of a double-triangle spherical parallel manipulator[J]. European Journal of Mechanics-A/ Solids, 2010, 29( 3) : 348-355.
[2] Gosselin C M. Stiffness mapping for parallel manipulators[J]. IEEE Transactions on Robotics and Automation, 1990,6 ( 3) : 377-382.
[3] Zhao Tieshi,Zhao Yanzhi, Shi Liju, et al. Stiffness characteristics and kinematics analysis of parallel 3-DOF mechanism with flexible joints[A]. IEEE International Conference on Mechatronics and Automation [C]. Harbin,China: IEEE, 2007: 1822-1827.
[4] 韩书葵,方跃法,槐创锋. 4 自由度并联机器人刚度分析[J]. 机械工程学报, 2006, 42( 增刊) : 31-34.
Han Shukui,Fang Yuefa,Huai Chuangfeng. Stiffness analysis of four degrees parallel manipulator[J]. Journal of Mechanical Engineering, 2006, 42( Supp) : 31-34.
[5] Woo-Keun Y, Suehiro T,Tsumaki Y, et al. A method for analyzing parallel mechanism stiffness including elastic deformations in the structure[A]. IEEE International Conference on Intelligent Robots and Systems[C]. Lausanne, Switzerland: IEEE, 2002: 2875-2880.
[6] Majou F,Gosselin C,Wenger P, et al. Parametric stiffness analysis of the orthoglide[J]. Mechanism and Machine Theory, 2007, 42( 3) : 296-311.
[7] 周玉林,高峰. 3-RRR 3 自由度球面并联机构静刚度分析[J]. 机械工程学报, 2009, 45( 4) : 25-32.
Zhou Yulin,Gao Feng. Stiffness analysis of spherical parallel mechanism 3-RRR with 3-DOF[J]. Journal of Mechanical Engineering, 2009, 45( 4) : 25-32.
[8] 胡波,路懿. 求解3-RPS 并联机构刚度的新方法[J]. 机械工程学报, 2010, 46( 1) : 24-29. Hu Bo,Lu Yi. New approach for analyzing the stiffness of 3-RPS parallel manipulator [J ]. Journal of Mechanical Engineering, 2009, 46( 1) : 24-29.
[9] 陈俊,王立平,张华,等. 平面2 自由度并联构型静刚度分析和设计[J]. 机械工程学报,2005,4 ( 7) : 158-163.
Chen Jun,Wang Liping,Zhang Hua,et al. Stiffness analysis and design of 2-DOF planar parallel manipulator[J]. Journal of Mechanical Engineering, 2005,4 ( 7) : 158-163.

相似文献/References:

[1]陆敏智,李开明.一种6-THHT并联机器人位姿检测方法[J].南京理工大学学报(自然科学版),2008,(02):149.
 LU Min-zhi,LI Kai-ming.Position and Orientation Measurement of 6-THHT Parallel Robot[J].Journal of Nanjing University of Science and Technology,2008,(03):149.
[2]赵 强,李洪人.液压并联机器人的键图建模[J].南京理工大学学报(自然科学版),2006,(02):203.
 ZHAO Q iang,LIH ong-ren.Modeling of Hydraulic Parallel Robot Using Bond Graph[J].Journal of Nanjing University of Science and Technology,2006,(03):203.
[3]刘 玮,常思勤.六棱锥式并联机器人结构设计与性能分析[J].南京理工大学学报(自然科学版),2013,37(02):257.
 Liu Wei,Chang Siqin.Structure design and performance analysis of six-pyramid parallel robot[J].Journal of Nanjing University of Science and Technology,2013,37(03):257.
[4]陈小岗,孙 宇,彭斌彬,等.6-UPS并联机床静刚度分布特性[J].南京理工大学学报(自然科学版),2013,37(06):926.
 Chen Xiaogang,Sun Yu,Peng Binbin,et al.Distribution characteristics of static stiffness for 6-UPS parallel machine tool[J].Journal of Nanjing University of Science and Technology,2013,37(03):926.

备注/Memo

备注/Memo:
中国博士后科学基金(2011M500923);江苏省“六大人才高峰”项目(2011ZBZZ025);江苏省前瞻性联合研究项目(BY2010107)
更新日期/Last Update: 2012-10-12