高速并联机械手的静动态特性预估与优化设计

Pre-estimation and optimization design on the static and dynamic characteristics of high-speed parallel manipulator

借助ANSYS参数化设计语言(APDL),构造了一种2平动自由度的高速并联机械手的有限元模型,侧重研究了几种不同铰链的精确建模方法,以及机构处于不同位形时的有限元模型快速重构技术,分析了机械手的静、动态特性,在此基础上进行了结构优化设计,提高了机械手的静、动态特性,并成功应用于产品化样机。

With the aid of ANSYS parameterized designing language （APDL）, a kind of finite element model for highspeed parallel manipulator with two translational DOF was constructed. Particular emphases had been laid on the study of precise modeling method on several kinds of different hinges and the rapid reconstruction technology of finite element model while the mechanism is in different location and posture. The static and dynamic characteristics of manipulator were analyzed, and taking this as a base to carry out structural optimization design and thus raised the static and dynamic characteristics of manipulator and it had been successfully applied to productive prototype.