| 全柔性铰链平面并联微动机器人的有限元分析 |
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| 引用本文： | 杨春辉,刘平安.全柔性铰链平面并联微动机器人的有限元分析[J].计算机工程与设计,2006,27(19):3701-3702,3720. |
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| 作者姓名： | 杨春辉 刘平安 |
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| 作者单位： | 华东交通大学,江西,南昌,330013 |
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| 摘 要： | 介绍了并联机器人的特点及其应用,对全柔性铰链平面并联机器人建立了刚性模型,并采用闭环线型原理建立理论运动学线性模型（Jacobian矩阵）,用ANSYS软件对其进行有限元分析,得到有限元运动学模型（Jacobian矩阵值）,讨论两者关系,发现有限元模型比理论模型要精确.
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| 关 键 词： | 全柔性铰链 并联机器人 微动机器人 有限元分析 运动学模型 |
| 文章编号： | 1000-7024（2006）19-3701-02 |
| 收稿时间： | 2006-04-25 |
| 修稿时间： | 2006-04-25 |
Finite element analysis for parallel micro-moving flexure joint robot |
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| YANG Chun-hui,LIU Ping-an.Finite element analysis for parallel micro-moving flexure joint robot[J].Computer Engineering and Design,2006,27(19):3701-3702,3720. |
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| Authors: | YANG Chun-hui LIU Ping-an |
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| Affiliation: | East China Jiaotong University, Nanchang 330013, China |
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| Abstract: | The parallel robot characteristic and application are introduced.A method of deriving a linear and effective kinematic model based on the loop closure theory is built.This method is illustrated with a parallel micro-moving flexure joint robot.Then the finite element analysis with ANSYS software is carried on.The finite element kinematics model(Jacobian matrix value) is obtained.Finally,that the finite element model is more precise than the theoretical model is discovered. |
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| Keywords: | entire flexible hinge parallel robots micro-motion robots finite element analysis kinematic model |
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