能量法求解全柔性微动机器人移动副的刚度

Establishing stiffness of prismatic pair in fully compliant parallel micro-robot using energy method

全柔性机构中柔性移动副(P副)刚度的求解是进行全柔性并联机构、全柔性并联微动机器 人分析的基础工作之一.在柔性铰链力学模型的基础上,利用能量法得出了非对称3-RRRP(4R)全 柔性并联机构的变截面柔性移动副(4R)单元上所受外力与端部变形之间的关系,结合柔性铰链的 柔性刚度矩阵求得柔性移动副单元刚度表达式方程.并用ANSYS工程软件建立相同的柔性移动副 模型进行模拟,模拟结果表明,推导的柔性移动副的刚度与模拟结果很相近,刚度的理论方程具有 一定的准确性.

Fully compliant parallel mechanism and fully compliant robot based on establishing the stiffness of the compliant prismatic pair are studied. The fully compliant anisomerous mechanism 3-RRRP (4R) is presented as an example in introducing the construction with compliant prismatic pairs and flexible joins. The mechanical model of the compliant prismatic pair is built. The relations between the external force and deformation of the compliant prismatic pair are obtained using the energy method. The stiffness equation of compliant prismatic pair is established based on the expressions of stiffness matrix of flexible joint using energy method. The results are simulated using ANSYS software. The simulation shows that the calculated values are similar to the simulated ones.