新型3-RPC柔性精密平台的刚度与动力学分析

中国机械工程 ›› 2013, Vol. 24 ›› Issue (17): 2317-2323.

新型3-RPC柔性精密平台的刚度与动力学分析

李仕华;龚文;李富娟;姜珊

燕山大学河北省并联机器人与机电系统实验室,秦皇岛,066004

出版日期:2013-09-10 发布日期:2013-09-22
基金资助:
河北省自然科学基金资助项目（E2013203293）；河北省高等学校科学技术研究重点项目（ZH2011236）
Hebei Provincial Natural Science Foundation of China（No. E2013203293）;
Hebei Provincial Science and Technology Research Key Program of Higher Education of China（No. ZH2011236）

Stiffness and Dynamics Analysis of a Novel 3-RPC Compliant Precision Stage

Li Shihua;Gong Wen;Li Fujuan;Jiang Shan

Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System,
Yanshan University,Qinhuangdao,Hebei,066004

Online:2013-09-10 Published:2013-09-22
Supported by:

Hebei Provincial Natural Science Foundation of China（No. E2013203293）;
Hebei Provincial Science and Technology Research Key Program of Higher Education of China（No. ZH2011236）

摘要/Abstract

摘要：

提出了一种新型空间柔性并联精密平台,该平台采用压电陶瓷驱动方式,通过单自由度柔性铰链的弹性变形实现末端执行件3个方向的运动;采用柔度矩阵变换法,建立了该柔性精密平台的刚度模型,并用有限元方法对刚度模型进行了验证。在此基础上,讨论了柔性铰链结构参数对平台刚度的影响规律;采用拉格朗日法建立该平台的动力学方程,利用有限元对其进行了模态分析,讨论了3组不同柔性转动副结构参数对微动机构自然频率的影响。

关键词: 3-RPC, 柔性机构;刚度模型;动力学分析

Abstract:

A novel type of space flexible parallel precision platform driven by PZT was designed, and flexure hinge with circular notches and one rotational degree of freedom was utilized to realize the passive adjustment of the three translation movement of the platform. Stiffness model of the stage was established by computing method for flexibility matrix, validated by finite element method. Then, the influence of geometrical parameters on the stiffness of the stage were discussed analytically. Dynamics equation of the stage was established by Lagrange equation, the model analysis of the stage was carried out by means of ANSYS, then, the influence of geometrical parameters of R flexure hinge on the natural frequencies of the stage were discussed analytically.

Key words: 3-RPC, compliant mechanism, stiffness model, dynamic analysis

中图分类号:

TH112

李仕华, 龚文, 李富娟, 姜珊. 新型3-RPC柔性精密平台的刚度与动力学分析[J]. 中国机械工程, 2013, 24(17): 2317-2323.

Li Shihua;Gong Wen;Li Fujuan;Jiang Shan. Stiffness and Dynamics Analysis of a Novel 3-RPC Compliant Precision Stage[J]. China Mechanical Engineering, 2013, 24(17): 2317-2323.

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