| 基于虚功原理的3-RRPR柔性精密定位工作台动力学分析 |
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| 引用本文： | 贾晓辉,田延岭,张大卫.基于虚功原理的3-RRPR柔性精密定位工作台动力学分析[J].机械工程学报,2011,47(1):68-74. |
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| 作者姓名： | 贾晓辉 田延岭 张大卫 |
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| 作者单位： | 天津大学机械工程学院,天津,300072 |
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| 基金项目： | 国家自然科学基金(50705064); 天津市自然科学基金(08JCYBJC01400)资助项目 |
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| 摘 要： | 为了实现柔性精密操作系统的高频控制,提出一种新型空间柔性并联精密定位工作台系统,该工作台采用多个压电陶瓷驱动方式,通过半圆形凹槽单自由度柔性铰链的弹性变形实现末端执行件3平动自由度的主动调整.根据机构伪刚体模型,采用矢量闭环方法建立其位置、速度以及加速度方程,并结合柔性铰链弹性应变能,采用虚功原理方法进行动力学分析,推...
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| 关 键 词： | 动力学 柔性机构 固有频率 虚功原理 |
Inverse Dynamics of 3-RRPR Compliant Precision Positioning Stage Based on the Principle of Virtue Work |
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| JIA Xiaohui,TIAN Yanling,ZHANG Dawei.Inverse Dynamics of 3-RRPR Compliant Precision Positioning Stage Based on the Principle of Virtue Work[J].Chinese Journal of Mechanical Engineering,2011,47(1):68-74. |
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| Authors: | JIA Xiaohui TIAN Yanling ZHANG Dawei |
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| Affiliation: | JIA Xiaohui TIAN Yanling ZHANG Dawei(School of Mechanical Engineering,Tianjin University,Tianjin 300072) |
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| Abstract: | For the realization of high frequency control of the flexure-based micromanipulator,a novel spatial compliant precision positioning stage driven by PZT is designed,and flexure hinge with circular notches and one rotational degree of freedom is utilized to realize the passive adjustment of the three translations of the platform.The position,velocity and acceleration equations are established on the basis of the Pseudo-Rigid-Body model.After calculating the potential energy of the flexure hinges,the inverse d... |
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| Keywords: | Dynamics Compliant mechanism Natural frequency Principle of virtue work |
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