柔顺并联机构运动静力学建模与实验研究

Kinetostatic Modeling and Experimental Research on a Large-Range Compliant Parallel Mechanism

柔顺并联机构具有无摩擦、无磨损、无间隙、整体加工和较少装配等优点,广泛应用于微/纳米定位领域。针对大行程平面柔顺并联机构,提出了基于柔度矩阵法的运动静力学建模方法。应用该方法,建立了3-PPR平面柔顺并联机构的运动静力学模型。为进一步验证模型的正确性,设计了基于三轴激光干涉仪和NI数据采集模块的多传感信号同步数据采集系统,并搭建了实验装置,实现了对机构驱动力、关节位移和末端位移的数据采集与分析。实验结果验证了实验方法的可行性和模型的正确性。

Compliant parallel mechanisms are widely used in the micro-/nano-positioning stages because of the advantages such as no friction,no wear,no backlash,monolithic manufacturing,and minimal assembly.A kinetostatic modeling method based on the compliance matrix method is proposed for a large-range planar compliant parallel mechanism.By applying the method,a kinetostatic model of a 3-Prismatic-Prismatic-Revolute compliant parallel mechanism is established.In order to verify the model,an experimental setup based on laser interferometers is established.The actuation forces,the displacements of the active prismatic joints and end-effector are acquired by the NI data acquisition system.Finally,the experimental results verify the feasibility of the experimental procedure and the correctness of the developed model.