3自由度柔性微机器人的静刚度分析

柔性微机器人要求具有很高的定位精度，而其静刚度在很大程度上决定着这一指标。针对目前对柔性微机器人静刚度分析中存在的不足，采用了结构分析中的柔度矩阵法：首先建立起机构中柔性单元的柔度模型，同时通过不同坐标系间的转换和单元节点处位移协调方程和力平衡方程的建立，递推出机器人末端相对参考坐标系下的静刚度矩阵。最后，以3自由度并联柔性微机器人为实例分析了该机器人的静刚度。分析表明：利用柔度矩阵法分析柔性微机器人运动学问题不仅便于计算，更接近柔性机构的本质。

ANALYSIS FOR THE STATIC STIFFNESS OF A 3DOF PARALLEL COMPLIANT MICROMANIPULATOR

The compliant micromanipulator requires very high positioning accuracy, which mainly depends on its static stiffness. Aiming at the shortcomings in existing analysis for static stiffness of compliant micromanupulators, compliance matrix method in structural analysis is applied. To specify it, compliance models of the flexible elements are determined firstly; the static stiffness matrix of the end-effector in relation to the reference coordinate system is obtained through the transformations of a series of different coordinate systems and the establishment of equilibriums of displacements and forces in unit nodes of the robot. At last, taken a 3DOF parallel compliant micromanipulator for instance, its static stiffness is discussed. The analysis show that the result by using compliance matrix method is very rapid as well as more approach to the essence of compliant mechanisms.