摘要
柔性关节的柔度是影响微动机器人机构整体机械性能的关键因素。基于一种二维平动并联微定位机构,应用卡氏第二定理建立了适于柔性平板移动副柔度的计算公式,分析了各柔度系数在其运动平面内随结构参数的变化规律,利用有限元验证了理论计算公式的正确性,并将其计算结果与传统计算方法所得结果进行了比较。该方法考虑了剪切变形的影响,理论计算精度得到了明显提高,为今后高精密微动机构的设计和精度分析提供了理论基础。
The flexibility of flexible joints is one of important performance indicators.It is also a key factor to affect whole performance of micro parallel robot.The formula of calculating the flexibility for flexible parallel-plate prismatic pair was established based on the Second Castiglian′s Theorem for one new kind of two-dimensional translational parallel micro-positioning platform structure.The variation law of each flexibility coefficients corresponding to structural parameters in its motion plane was analyzed,the theoretical calculation formula was verified with the method of finite element analysis and compared with traditional method.The effect of shear deformation is considered in the new method,and the theoretical calculation accuracy was improved obviously.The method of calculating the flexibility of flexible joints provides theoretical basis for analysis and design of high-precision micro-dynamic mechanism.
作者
陈海真
王红梅
李爱军
CHEN Haizhen;WANG Hongmei;LI Aijun(School of Mechanical Engineering,Shandong University of Technology,Zibo 255049,China)
出处
《山东理工大学学报（自然科学版）》
CAS
2020年第6期52-56,共5页
Journal of Shandong University of Technology:Natural Science Edition
关键词
柔度矩阵
柔性平板移动副
应变能
卡氏第二定理
flexibility matrix
flexible prismatic pair
strain energy
Second Castiglian′s Theorem
作者简介
第一作者:陈海真,女,chhaizhen@163.com。
