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介绍了一类新颖的空间柔性并联机构,基于“伪刚体模型”理论建立其运动学逆解模型。通过选择合适的压电陶瓷驱动器、弹性铰链和材料,确定由压电陶瓷驱动范围及各位置上柔性铰链允许转角范围所限定的约束条件,进行了相应的工作空间分析,给出了机构可达工作空间的可视化描述。利用有限元方法考察了所设计柔性并联机构的性能,仿真试验验证了所建运动学模型的正确性。
A novel kind of space flexible parallel mechanism is introduced and its kinematic inverse model is built based on the theory of “pseudo rigid body model”. By selecting the appropriate piezoelectric ceramic actuators, elastic hinges and materials to determine the constraints imposed by the scope of the piezoelectric ceramic driving range and the allowable rotational range of the flexible hinge at each position, the corresponding workspace analysis is given, and the mechanism reachable A visual description of the workspace. The finite element method is used to investigate the performance of the flexible parallel mechanism. The simulation results verify the correctness of the kinematics model.