3-RPRR类平面全柔性并联机构设计及分析

Analysis and Design for 3-RPRR Similarly Planar Fully Compliant Parallel Manipulator

全柔性并联机构具有空间多自由度运动特性,但其结构尺寸往往不能满足微纳精密加工与制造领域的需求,具有明显的局限性。基于同构型全柔性并联机构,以几何约束为条件,设计出具有与同构型全柔性并联机构空间运动特性一致的3-RPRR类平面全柔性并联机构。建立3-RPRR全柔性并联机构和3-RPRR类平面全柔性机构三维模型。采用Hyperworks软件对两种机构整体进行有限元分析,并结合虚功原理推导出两种全柔性构型的静刚度模型。最后对两种机构进行模态分析。研究结果表明,3-RPRR类平面全柔性并联机构在刚度、抗干扰性以及抗振性方面均优于其同构型的全柔性并联机构。

A fully compliant parallel manipulator can achieve multi-dimensional motions,but it has obvious limitations in the micro-position fields for the structure and size.A new mechanism which is called 3-RPRR similarly planar fully compliant parallel manipulator is designed.The design of such a new model is based on the configuration and geometric constraints of a 3-RPRR whole compliant manipulator.The model of3-RPRR fully compliant parallel manipulator and 3-RPRR similarly planar fully compliant parallel manipulator are designed firstly.Then,by utilizing the Hyperworks software,the finite element analysis of the two institutions and their chains are carried out,and combining with the principle of virtual work,the static stiffness models of the two mechanisms are deduced.At last,the modal frequency analysis is finished by the same software.The result shows that,the static stiffness,anti-interference performance and vibration resistance of 3-RPRR similarly planar fully compliant parallel manipulator are better than its prototype.