固定-导向柔顺杆件6R伪刚体模型

摘要/Abstract

摘要： 为提高固定-导向型伪刚体模型的计算精度，基于伪刚体模型的原理提出了一种固定-导向6R伪刚体模型。建立了该模型的运动学方程，并根据逆运动学分析方法及优化算法求解了模型的4个最优特征半径系数和3个扭簧刚度系数。通过数值算例模拟固定-导向6R伪刚体模型的末端动作路径，并将其与固定-导向2R伪刚体模型及柔顺杆件的末端路径进行对比。结果表明，固定-导向6R伪刚体模型能够更加精确地模拟相应柔顺杆件的末端动作过程，且其相对误差几乎为0。最后，通过ANSYS有限元分析实例验证了该模型在实际计算中的精确性。

关键词: 伪刚体模型, 固定-导向柔顺杆件, 优化算法, 有限元分析

Abstract: Based on the principles of PRBM, a new fixed-guided 6R PRBM was presented to improve the calculation accuracy for the fixed-guided compliant links firstly. Secondly, the kinematics equation of the model was set up, and the optimal characteristic radius coefficients and the spring stiffness coefficients were acquired using the optimization algorithm and inverse kinematical analysis. In order to validate the calculation accuracy of the fixed-guided 6R PRBM, numerical examples were demonstrated by comparing the tip locus of the fixed-guided 6R PRBM with that of the fixed-guided 2R PRBM. Further research shows that the fixed-guided 6R PRBM may actually simulate the tip locus of the compliant links and the relative error is almost equal to zero. Finally, the accuracy of the model in actual calculation was verified by finite element analysis and engineering examples.

Key words: pseudo-rigid-body model (PRBM), fixed-guided compliant link, optimization algorithm, finite element analysis

中图分类号:

TH112

刘凯, 曹毅, , , 葛姝翌. 固定-导向柔顺杆件6R伪刚体模型[J]. 中国机械工程.

Liu Kai, Cao Yi, , , Ge Shuyi. 6R PRBM of Fixed-guided Compliant Links[J]. China Mechanical Engineering.

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