柔顺关节并联机器人固有频率分析

为了解含有片簧式柔顺关节的并联机器人振动特性，基于含有片簧式柔顺关节的并联机器人动力学方程，建立了频率方程，并对系统固有频率在机器人运动过程以及工作空间的变化情况进行分析，同时对理论轨迹、软件仿真轨迹与名义轨迹的差值进行幅频特性分析来说明理论计算结果和软件仿真结果的正确性，也相互验证了频率方程和幅频特性分析方法的正确性。

Natural Frequency Analysis of Parallel Robot With Compliant Joints

To obtain the vibration characteristics of the parallel robot with leaf-spring compliant joints, the frequency equation was proposed on the dynamics equations, based on the dynamics equations of the parallel robot with leaf-spring compliant joints, the frequency equation was proposed, and the natural frequencies of the system changed in the robot motion and work space were analyzed. At the same time, the amplitude-frequency characteristics of differences of the theoretical trajectory, software simulations and the nominal trajectory were analyzed to prove that the theoretical calculations and the software simulations were correct. Simultaneously the frequency equation and amplitude-frequency characteristic analysis method were verified the validity to each other.