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采用有限元法对柔性连杆进行离散,运用浮动坐标系、拉格朗日方程建立了平面3-RRR和3-PRR柔性并联机器人的弹性动力学模型,该模型考虑了关节、动平台的集中质量和集中转动惯量,以及刚体运动的科式力和离心力.基于所建立的弹性动力学模型,比较了两系统的动力学特性,包括系统的固有频率、动平台的弹性位移和弹性转角、各柔性连杆的最大应力.结果表明:在参数一致的情况下,平面3-RRR机器人的动力学性能优于3-PRR机器人.文中结论可为平面完全3自由度柔性并联机器人的选型提供理论依据.
The finite element method is used to discretize the flexible links. The elastic dynamics model of planar parallel 3-RRR and 3-PRR parallel manipulators is established by using Lagrange equation and Lagrange equation. The model considers the joint and dynamic platform’s concentration Mass and concentration moment of inertia as well as the force and centripetal force of rigid body.According to the established elastic dynamics model, the dynamic characteristics of the two systems are compared, including the natural frequency of the system, the elastic displacement of the movable platform and the elastic rotation angle, The results show that the planar 3-RRR robot has better dynamic performance than the 3-PRR robot under the condition of uniform parameters.The conclusions in this paper can provide theory for the selection of flexible parallel robot with plane 3-DOF in accordance with.