| 柔性并联机器人频率特征分析 |
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| 引用本文： | 杜兆才,余跃庆,刘善增. 柔性并联机器人频率特征分析[J]. 机械设计与研究, 2007, 23(3): 49-53 |
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| 作者姓名： | 杜兆才 余跃庆 刘善增 |
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| 作者单位： | 北京工业大学,北京,100022;北京工业大学,北京,100022;北京工业大学,北京,100022 |
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| 基金项目： | 国家自然科学基金 , 北京市自然科学基金 , 北京市教委科技发展计划项目 , 北京市教委人才强教拔尖人才项目 |
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| 摘 要： | 为了描述柔性并联机器人的弹性动力学性能,分析了机器人振动频率的特征.计算了机器人在整个运动过程中的频率,绘制了机器人在工作空间内的基频图,可用于选择机器人的工作位置,以避免产生共振或低阶谐振.讨论了频率求解精度、收敛性与单元横向弹性位移型函数以及单元数量之间的关系.计算实例表明,不同位形的机器人的频率差别很大.在奇异位形处,基频为零.研究频率特性可为柔性机器人的分析、设计、控制提供指导.
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| 关 键 词： | 柔性并联机器人 频率 精度 收敛性 奇异位形 |
| 文章编号： | 1006-2343（2007）03-049-05 |
| 修稿时间： | 2006-12-04 |
Analysis of Natural Frequencies of Flexible Parallel Robots |
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| DU Zhao-cai,YU Yue-qing,LIU Shan-zeng. Analysis of Natural Frequencies of Flexible Parallel Robots[J]. Machine Design and Research, 2007, 23(3): 49-53 |
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| Authors: | DU Zhao-cai YU Yue-qing LIU Shan-zeng |
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| Abstract: | The properties of natural frequencies of flexible parallel robots were investigated to indicate the elas todynamic characteristic. The natural frequencies throughout the motion were calculated. The first natural frequency map in working space was drawn, which can be useful for selecting proper working position to avoid resonance or low-order harmonic oscillation. The relations between accuracy, convergence of natural frequencies and transverse elastic dis- placement shape function, quantity of elements were discussed. The resahs show that the natural frequencies of robot in different configurations differ greatly from each other, and the natural frequency of robot in singular configuration is zero. The research of natural frequencies can provide necessary information and guidance for analysis, design and control of flexible robots. |
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| Keywords: | flexible parallel robot natural frequency accuracy convergence singular configuration |
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