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

摘要：

为了描述柔性机器人的动态应力状况和疲劳特性，将柔性机器人的动态应力计算与疲劳特性分析相结合，形成一种柔性机器人动态应力疲劳分析方法。分析了柔性机器人杆件的弹性变形与弹性位移的关系，计算了杆件的弹性变形及动态应力，通过计算杆件动态应力造成的疲劳损伤，预测其疲劳寿命，并根据疲劳强度计算杆件的工作安全系数。以柔性平面3-RRR并联机器人为例，说明杆件的动态应力计算和疲劳特性分析对动力学分析和设计的重要意义。

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