关键词: 柔性机器人；弹性变形；弹性位移；动态应力；疲劳损伤；疲劳寿命

Abstract:

In order to investigate the dynamic stress and endurance characteristics of flexible robots, the analysis on endurance characteristics was incorporated into the research on dynamic stress of flexible robots.The relation between elastic deformation and elastic displacement of the flexible planar robot’s links was investigated.The elastic deformation of links was calculated,and the dynamic stress on any position of the links was derived.The fatigue failure due to the alternative dynamic stress was analyzed,and the fatigue lives of the links were predicted based on the cumulative damage rule.The performance margin of links determined by fatigue strength was calculated.The purpose of the analysis was well illustrated through the numerical simulation of a flexible planar 3-RRR parallel robot.The analysis on dynamic stress and fatigue life is demonstrated to have significant impact on the dynamic analysis and design of flexible robots.

Key words: flexible robot;elastic deformation;elastic displacement;dynamic stress;fatigue failure, fatigue life