一种机构刚度分布方法及在Stewart机构中的应用
A Mechanism Stiffness Distribution Method and its Application in Stewart Mechanism
张双双 1刘齐更1
作者信息
- 1. 安徽理工大学机械工程学院,安徽 淮南 232001
- 折叠
摘要
并联机构(PKM)通常用于工业加工中的切削或装配,其优良的刚度特性和动态特性对机器人末端精度有了很好的保障.以机构低频共振的振幅为中间量,在机构固有频率振动分析的基础上,采用一阶共振能量分析法,计算机构各连杆刚度分布的比例,建立了一类新的机构刚度(变形能)分布评价指标.该方法用在方案设计阶段,可得到机构的整体刚体分布情况,从而获得了理论层面上的动力学性能依据.最后,以两类典型的Stewart并联机构作为案例,证明了该方法的有效性.
Abstract
Parallel kinematic Machine(PKM)is normally used for cutting or assembling in industrial processing,its stiffness property and dynamic vibration characteristics are vital to the precision of the final product.The proportion of the stiffness of each linkage in a manipulator will be considered by using vibrational energy analysis,the calculation is based on the natural vibra-tion analysis of the manipulator,where the amplitude of the first order vibration for the manipulator is taken as the target.A case study of Stewart parallel manipulator is given for illustration of the method.
关键词
刚度分布/弹性变形能/固有频率振动/Stewart机构Key words
Stiffness Distribution/Elastic Deformation Energy/Natural Frequency Vibration/Stewart Manipulator引用本文复制引用
出版年
2024
NETL
NSTL
万方数据