Diamond机构的弹性动力分析与试验研究

采用KED方法建立了Diamond开联机械手的弹性动力模型，在动力学方程建立过程中，做了两点改进：(1)由于连接电机和主动臂的减速器对机构在平面内的刚度有很大影响，为此在电机和主动臂连接的地方，增加一个弹簧单元，此时在铰链节点处增加了一个扭转弹性位移。（2)将并联机械手中的动平台和支架结构，作为刚体处理，在动力模型建立过程中考虑了弹性单元和刚体单元的相互协调，同时对该机构的固有频率进行测试。结果表明，理论计算结果和试验值吻合很好，从而验证了理论计算的各理性和正确性。

Research on elastic dynamic analysis and test for Diamond mechanism

The elastic dynamic model of Diamond parallel manipulator was established by the use of KED (Kineto-Elastodynamic-Analysis). Two points of improvement were made in the establishment course of dynamics equation. (1) On account of the big influence to the rigidity on the plane of the mechanism affected by linking motor and reducer of driving arm, therefore a spring unit was added at the linking place of motor and driving arm, at this moment a tortile elastic displacement was added at the node point of hinge. (2) Let the moving platform and support structure in the parallel manipulator be treated as rigid body, and mutual harmonization of elastic unit with rigid body unit was being considered during the establishing course of dynamic model. A test upon the inherent frequency of this mechanism has been carried out at the same time. The result shows a good coincidence between the result of theoretical computation and the value of test, and the rationality and correctness of theoretical computation were verified.