摘要
刚度作为设计和评价全柔性机构的一个重要指标,在很大程度上影响着全柔性机构的动态性能和定位精度。利用材料力学中的单元刚度矩阵原理,根据柔性机构的结构特点进行单元划分。然后全面考虑机构中各单元的复杂变形,建立单元间的位移、力平衡方程,得到便于进行递推运算的刚度表达形式。以一种二维微动平台为例,给出了应用该方法的刚度分析过程,结果表明理论计算接近有限元分析数据。
Rigidity is an important performance index for fully flexible mechanism design and evaluation, which affects the dynamic performance and positioning precision to a great extent. According to the principle of unit stiffness matrix for mechanics of materials, a flexible mechanism can be divided into units considering its structure characteristics. Taking into account of the complex unit deformations and establishing the displacement and force equilibrium equations, the stiffness matrix can be derived in a form convenient for recursive computation. Using a two dimensional micro-positioning platform as an example, the process is presented about how to compute the stiffness matrix. Results from theoretical analysis and from ANSYS software analysis are very close.
出处
《机械设计与研究》
CSCD
北大核心
2012年第4期42-45,共4页
Machine Design And Research
基金
山东省优秀中青年科学家科研奖励基金资助项目(BS2011ZZ013)
山东省教育厅高等学校优秀骨干教师国际合作培养项目
关键词
柔性机构
微定位
刚度
单元刚度矩阵
flexible mechanism
micro-positioning
rigidity
unit stiffness matrix
