基于坐标转换法的3-RRR并联微动机构柔度矩阵建模

Modeling of the Flexibility Matrix of 3-RRR Parallel Micromanipulator based on Coordinate Transformation Method

全柔性机构的柔度矩阵建模是进行全柔性机构分析的基础,以3-RRR全柔性并联机构为例,基于坐标变换法推导柔性机构的柔度矩阵模型建立过程,应用ANSYS 12.0软件对柔性机构进行有限元分析,验证了柔度矩阵的正确性。此方法有利于柔性机构柔度的计算和分析,为柔性机构的运动学、动力学分析提供了方便。

The modeling of the flexibility matrix of the fully compliant mechanism is the basis for its analysis. Taking the 3 -RRR fully compliant parallel mechanism as an example, and the establishing processing of the flexibility matrix model of compliant mechanism is derived based on the coordinate transformation method. The finite element analysis of the fully compliant mechanism is carried out, the correctness of the flexibility matrix is verified. This method is helpful to the calculation and analysis of compliance of the flexible mechanism, it provides convenience for the kinematics and dynamics analysis of compliant mechanism.