基于几何非线性方法的大行程柔性并联机器人位置解

KINEMATICS ANALYSIS OF A PARALLEL MANIPULATOR WITH LONG TRAVEL RANGE FLEXURE HINGES BASED ON GEOMETRIC NONLINEAR METHOD

提出了一种厘米级行程、微米级精度的柔性6-PSS并联机器人,该机器人的被动关节采用了大行程柔性铰链。首先,提出了大行程柔性铰链的概念并建立了其刚度矩阵;通过组集支链刚度矩阵以及建立适当的协调方程,得到基于刚度矩阵的柔性并联结构的位置解模型;由于模型中几何非线性问题的存在,在求解位置反解时,采用了修改的拉格朗日列式法;最后,给出了基于增量法解答的位置解算例。

A novel flexible parallel manipulator is presented. Typical feature of this design is the adoption of long travel range flexible hinges and the centimeter-scale movement of the system. The kinematics of this manipulator is analyzed via the stiffness model of the long travel range flexure hinge. A calculation example of kinematics model is presented based on the Updated Lagrange fo/rnulation. Furthermore, corresponding kinematics simulation is executed to validate the kinematics analysis above.