Delta并联机器人静刚度理论分析与仿真

Simulation and Theoretical Analysis on Static Stiffness of Delta Parallel Robot

为研究静平衡状态下Delta并联机器人对外部载荷的响应情况,将相对刚度大的构件视为刚体以简化建模难度,同时将驱动臂和从动杆理想化为线弹性杆件,采用卡氏第二定理对其进行了静刚度理论分析与建模。利用该模型模拟实际情况下动平台所受到的负载情况,进而在不同位姿下探究了动平台位移和转角弹性变形量在可达工作空间内指定区域中的分布规律和特点。最后利用ISIGHT进行联合仿真,从而相互验证理论建模和仿真的正确性。

In order to study the response of Delta parallel robots to external loads in the static equilibrium state,the relatively rigid components are regarded as rigid bodies to simplify the modeling difficulty.At the same time,the driving arm and the driven rod are idealized as linear elastic rods,and the static stiffness theory is analyzed and modeled by using the second theorem of Karnowski.The model is used to simulate the actual load of the moving platform,and then the distribution rules and characteristics of the displacement and corner elastic deformation of the moving platform in the designated area of the reachable working space are explored under different poses.Finally,ISIGHT is used for joint simulation to mutually verify the correctness of theoretical modeling and simulation.