| 一种新型高速精密机器人的弹性动力学研究 |
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| 引用本文： | 刘延杰,孙立宁,刘品宽,刘新宇. 一种新型高速精密机器人的弹性动力学研究[J]. 哈尔滨工业大学学报, 2003, 35(11): 1294-1297 |
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| 作者姓名： | 刘延杰 孙立宁 刘品宽 刘新宇 |
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| 作者单位： | 哈尔滨工业大学,机器人研究所,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家高技术研究发展计划资助项目(863-2001AA423110). |
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| 摘 要： | 针对机器人机构的特点，将结构动力学中的固定界面子结构模态综合法与有限单元法相结合，进行了并联弹性连杆机器人机构的动力学分析，设计了一种新型两自由度高速精密平面并联机器人，通过数值仿真，计算出并联弹性连杆机器人机构的动态响应、固有频率及其对应的模态阻尼，并与实验样机的实测结果进行比较，表明了该方法的有效性。
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| 关 键 词： | 机器人 弹性动力学 模态综合法 有限单元法 数值仿真 固有频率 |
| 文章编号： | 0367-6234(2003)11-1294-04 |
| 修稿时间： | 2002-12-13 |
Kineto-Elastodynamic analysis of new high speed and high precision robotic mechanism |
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| LIU Yan-jie,SUN Li-ning,LIU Pin-kuan,LIU Xin-yu. Kineto-Elastodynamic analysis of new high speed and high precision robotic mechanism[J]. Journal of Harbin Institute of Technology, 2003, 35(11): 1294-1297 |
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| Authors: | LIU Yan-jie SUN Li-ning LIU Pin-kuan LIU Xin-yu |
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| Abstract: | In the light of the characteristics of robotic mechanisms a Kineto-elastodynamic analysis was made for a new high speed and high precision 2-DOF planar parallel elastic linkage manipulator by combining the fixed-interface mode synthesis of substructures coupling and finite element analysis. Digital simulations were conducted with the parallel elastic linkage manipulator to mainly demonstrate dynamic response, natural frequency and corresponding damping. The simulation results are compared with the actual measurements made with the prototype of the robot to validate the effectiveness of the method proposed. |
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| Keywords: | Kineto-Elastodynamics component mode synthesis finite element analysis simulation |
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