摘要
利用有限元通用软件 ANSYS建立了大射电望远镜精调 Stewart 平台并联机器人的有限元模型;采用ANSYS参数化设计语言(APDL)实现了该模型的参数化设计;通过对任意位姿结构进行模态分析,计算出并联机器人在其工作空间内的固有频率分布;根据伺服系统设计原则,确定了该并联机器人的伺服带宽。
Finite Element Analysis (FEA) model of the fine tuning Stewart platform, a parallel manipulator, for a large radio telescope was established by using ANSYS software. The FEA model was parameterized first through ANSYS Parametric Design Language (APDL). Further the distributions of natural frequencies of different structures were searched in the whole workspace and the lowest natural frequency was found. Based on the design criteria of servo systems, the servo bandwidth of the parallel manipulator was determined finally. The results lay a solid base for the design and control of the parallel manipulator.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2005年第3期245-248,共4页
China Mechanical Engineering
基金
国家自然科学基金资助跨学部交叉重点项目(10433020)
教育部留学回国人员实验室基金资助项目(030401)
