中国机械工程2018，Vol.29Issue(10)：1179-1185,7.DOI:10.3969/j.issn.1004-132X.2018.10.008
球面两自由度冗余驱动并联机器人弹性动力学分析
Elastodynamics Analysis of a Spherical 2-DOF Redundantly Actuated Parallel Robot
摘要
Abstract
The elastodynamics model of a spherical 2-DOF redundantly actuated parallel robot was established. Firstly,the six space curved rods of the robot system were divided into six substructures, considering the space curved rod bending,tensile and torsion deformations,the elastodynamics model of each substructure was derived based on finite element method. Then,according to the constraint characteristics of the joint rotations,elastodynamics models of every branches were established,and according to the deformation coordination constraints between each branch and the output shaft,the system's elastodynamic model was obtained by assembling the three branches.Finally,based on the comparison of the inherent frequencies which were gained by the theoretical calculation and finite element simulation when the robot was in the initial positions,the correctness of the natural frequencies was verified. By comparing the dynamic responses of spherical 2-DOF redundant and non-redundant actuated parallel robots,it is verified that the output maximum elastic displacement of the output may be significantly reduced by introducing redundant actuation. The research results provide a reliable basis for the structure optimization design and the vibration research of the parallel robots with spatial curved rods.关键词
并联机器人/弹性动力学/固有频率/冗余驱动Key words
parallel robot/elastodynamics/natural frequency/redundant actuation分类
机械制造引用本文复制引用
李永泉,佘亚中,万一心,张立杰..球面两自由度冗余驱动并联机器人弹性动力学分析[J].中国机械工程,2018,29(10):1179-1185,7.基金项目
国家自然科学基金资助项目(51405421) （51405421）
河北省自然科学基金资助项目(E2015203101) （E2015203101）
