摘要
采用有限元方法建立了一种新型两自由度平动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.结果表明: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由高速运动时的刚体惯性力引起,机械手各个柔性构件的动应力谱是变幅应力谱.
In this paper, first, the finite element method is vel planar parallel manipulator with two degrees of freedom. employed to construct an elastodynamic model of a no- Next, on the basis of the proposed model, the distribution of the first four-order natural frequency of the manipulator in the workspace is analyzed. Then, the displacement error of the moving platform under the excitations of external forces and rigid inertial force is investigated. Finally, the maximum dynamic stress and its position at each time point are presented. The results show that the natural frequency of the manipulator is relevant to the configuration, that the displacement error of the moving platform is mainly caused by the rigid inertial force during a high-speed movement, and that the dynamic stress spectra of the flexible components of the manipulator are all amplitude variable.
出处
《华南理工大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2009年第11期123-128,共6页
Journal of South China University of Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(50775073)
国家杰出青年基金资助项目(50825504)
关键词
高速并联机械手
弹性构件
弹性动力学
动应力
固有频率
high-speed parallel manipulator
elastic component
elastodynamicd
dynamic stress
natural frequency
