摘要
4-CRU并联机构有4条对称的CRU支链组,具有3转动1平移运动特性。基于4-CRU并联机构的运动特性,设计具有全柔顺特性的新型4-CRU的全柔顺并联机构,并对全柔顺支链刚度和动力学方程进行分析。实验采用ANSYS软件仿真结果表明:通过与计算的刚度进行对比,验证方法的可行性;为求全柔顺并联机构整体刚度提供依据;为超精密定位平台的精度研究提供帮助。
4-CRU parallel mechanism is composed of four symmetrical CRU branched chain, and has a kinetic characteristic which is three-dimension translations and one rotation. Based on kinetic characteristic of the 4-CRU parallel mechanism, a 4-CRU whole compliant parallel manipulator was designed , and the stiffness of the whole compliant parallel manipulator chain and dynamic equation were analyzed. The contrastive results which is from ANSYS software show as following： through the comparison of the stiffness which has been calculated, the correctness of this method which we analyzed the stiffness of the chain is verified, and an evidence which we will calculate the overall stiffness of the whole compliant parallel manipulator is provided.
出处
《煤矿机械》
北大核心
2013年第4期124-127,共4页
Coal Mine Machinery
基金
国家自然科学基金资助项目(50965007
51165009
51105077
51104067)
江西省自然科学基金资助项目(20114BAB206008)
关键词
全柔顺并联机构
运动特性
支链刚度
建模仿真
whole compliant parallel manipulator, kinetic characteristic
stiffness of a chain
simulation analysis
