摘要
针对机器人机构的特点,将结构动力学中的固定界面子结构模态综合法与有限单元法相结合,进行了并联弹性连杆机器人机构的动力学分析,设计了一种新型两自由度高速精密平面并联机器人.通过数值仿真,计算出并联弹性连杆机器人机构的动态响应、固有频率及其对应的模态阻尼,并与实验样机的实测结果进行比较,表明了该方法的有效性.
In the light of the characteristics of robotic mechanisms a Kineto-elastodynamic analysis was made for a new high speed and high precision 2-DOF planar parallel elastic linkage manipulator by combining the fixed-interface mode synthesis of substructures coupling and finite element analysis. Digital simulations were conducted with the parallel elastic linkage manipulator to mainly demonstrate dynamic response, natural frequency and corresponding damping. The simulation results are compared with the actual measurements made with the prototype of the robot to validate the effectiveness of the method proposed.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2003年第11期1294-1297,共4页
Journal of Harbin Institute of Technology
基金
国家高技术研究发展计划资助项目(863-2001AA423110).
