空间弹性并联机器人KED建模

KED modeling of an elastic spatial parallel manipulator

本文首次用有限元方法建立了一种空间６自由度并联机器人的弹性动力学模型，文中根据并联机器人的结构特点，设其平台为刚性体，各条腿为弹性体，再根据平台与腿部的运动协调方程推导出它的ＫＥＤ方程。已知机器人的刚体运动规律，由此方程可以求出其平台以及腿部各关节的弹性运动规律。最后给出了数值例。

By the use of finite element method this paper established for the first time an elastic dynamical model of a spatial parallel manipulator with 6 degrce of freedoms.According to the structural features of parallel robot this paper assumes that its platform to be a rigid body while the legs to be elastis.Its KED equation are being derived on the basis of motion coordinate equation of platform and legs.When the motion law of rigid body of manipulator is known the elastic motion law of its platform and of each joint of legs cam be found out by this KED equation.Finally,some numerical examples have been given out in this paper.