|
|||||
|
|
| 基于压电陶瓷驱动的并联微动机器人静力学及其微动平台的静刚度分析 | |
| 引用本文： | 张建军,高峰,陈玉龙,赵辉.基于压电陶瓷驱动的并联微动机器人静力学及其微动平台的静刚度分析[J].机械工程学报,2004,40(11):82-87. |
| 作者姓名： | 张建军 高峰 陈玉龙 赵辉 |
| 作者单位： | 1. 河北工业大学机械工程学院,天津,300130 2. 燕山大学机械工程学院,秦皇岛,066004 3. 北京航空航天大学机器人研究所,北京,100083 |
| 基金项目： | 国家863计划(2001AA421280)，天津市自然科学基金(003601311)资助项目 |
| 摘 要： | 并联微动机器人通过弹性铰链的弹性变形实现终端平台的微运动,静力学和静刚度是微动机器人必须解决的问题。充分考虑弹性铰链的弹性反力/力矩,对6-PSS并联微动机器人进行静力学分析,建立了压电陶瓷驱动力与微动平台外载的关系模型,并定义了微动机器人的驱动刚度矩阵。基于并联微动机器人的特殊性,定义了微动平台的刚度,通过静刚度分析推导出了微动平台刚度矩阵,为并联微动机器人结构刚度设计、弹性铰链刚度综合和动力学分析提供了理论基础。 |
| 关 键 词： | 压电陶瓷驱动 并联微动机器人 静力学 静刚度 |
| 修稿时间： | 2003年10月14 |
STUDY ON STATICS AND STIFFNESS OF PARALLEL MICRO-MANIPULATORS WITH PZT ACTUATORS |
|
| Zhang Jianjun Gao Feng.STUDY ON STATICS AND STIFFNESS OF PARALLEL MICRO-MANIPULATORS WITH PZT ACTUATORS[J].Chinese Journal of Mechanical Engineering,2004,40(11):82-87. | |
| Authors: | Zhang Jianjun Gao Feng |
| Abstract: | A parallel micro-manipulator adopts flexible joints and their flexible deformation realizes micro-movement of the end-effector, in which statics and stiffness are main problems. Considering the deformation force or moment of the flexible joints sufficiently, statics problem of a 6-PSS parallel micro-manipulator is studied, a relationship model between PZT actuator force and load effected on the end-effector is builted, and driving stiffness matrix is defined. As the particularity of a micro-manipulator, its stifmess is defined and rigidity matrix is educed. It presents a theory basis for structure stifmess design, flexible joints stifmess synthesis and dynamics analysis of micro-manipulators. |
| Keywords: | PZT actuator Parallel micro-manipulator Statics Stiffness |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |