农业机械学报2012，Vol.43Issue(8)：210-214,5.DOI:10.6041/j.issn.1000-1298.2012.08.038
空间全柔性并联机构动力学分析
Dynamics Analysis of Spatial Compliant Parallel Mechanism
摘要
Abstract
Due to the requirement of multi-dimensional nanometer level positioning of the compliant precision mechanism, a piezo-driven spatial compliant parallel mechanism was presented through the conventional Delta parallel mechanism. The inverse kinematics was developed on the basis of the Pseudo-Rigid-Body (PRB) model. After the simplifying of the mass of passive arm and calculating the strain energy of the flexure hinges, the dynamic equation was established through the Lagrangian approach, and the natural frequencies are evaluated by utilizing the geometric parameters. Three natural frequency errors, which were along with three primary translation directions, between the experiment results and the theoretical analysis were 12. 71% ,12. 14% and 14. 90% . The error between the finite element simulation and the theoretical results were 6. 20% ,5. 66% and 10. 28% . The results also showed that the simplified process during the theoretical analysis was reasonable and the derived mathematics model was creditable.关键词
柔性并联机构/动力学/固有频率/有限元仿真Key words
Compliant parallel mechanism/ Dynamics/ Natural frequency/ Finite element simulation分类
机械制造引用本文复制引用
贾晓辉,刘今越,田延岭..空间全柔性并联机构动力学分析[J].农业机械学报,2012,43(8):210-214,5.基金项目
国家自然科学基金资助项目(50705064)和天津市自然科学基金资助项目(08JCYBJC01400) （50705064）
