中国机械工程2017，Vol.28Issue(20)：2395-2401,7.DOI:10.3969/j.issn.1004-132X.2017.20.001
一种打磨机械臂的静刚度建模与实验
Static Stiffness Modeling and Experiments of Polishing Manipulator Arm
摘要
Abstract
A new type of 3-DOF manipulator arm was proposed,which was based on (U+UPS)P+ UPS parallel mechanism.Using the idea of sub structure decomposition and superposition,deformation factors of manipulator arm's wrists were divided into 3 main factors:only considering branches' tension/compression deformations,only considering UP branch's torsion deformations,only considering UP branch's bending deformations.Also,3 main factors affecting to stiffness model were established by virtual work principle and structure matrix based on vector loops.Deformation coefficients of each components in the branches were defined according to the structural characteristics of each branches.Then,the stiffness model of each influencing factors was integrated into the whole stiffness model of the manipulator arm by superposition principle.Finally,experimental prototype of the manipulator arm was developed.Using high precision robot calibration system,the stiffness calibration experiments of manipulator arms were done.Experimental results indicate that the deviation between measured position deformations and theoretical position deformations are less than 3 μm,the deviation between measured attitude deformations and theoretical attitude deformations are less than 0.05 °.The deformations of the manipulator arm's experimental prototype are within a reasonable range.关键词
机械臂/铸件打磨/并联机构/静刚度分析/实验样机/刚度实验Key words
manipulator arm/casting part's polishing/parallel mechanism/static stiffness analysis/prototype/stiffness experiment分类
信息技术与安全科学引用本文复制引用
曲梦可,王洪波,荣誉..一种打磨机械臂的静刚度建模与实验[J].中国机械工程,2017,28(20):2395-2401,7.基金项目
国家科技支撑计划资助项目(2015BAI06801) （2015BAI06801）
河北省高等学校科学技术研究青年基金资助项目(QN2015185) （QN2015185）
河北科技师范学院博士启动基金资助项目(2015YB004) （2015YB004）
