摘要
研究一个平面3自由度柔性铰链并联机器人的平均构形问题。通过逆静力分析得出了一个4变量耦合的三角函数超越方程组,讨论了并联机器人的初始装配构形,基于牛顿迭代法提出了一个数值算法,无需选取初值可求出三角函数超越方程组在指定区间内的全部实数解,得到了柔性铰链并联机器人的所有初始装配构形和在外载荷作用下的平衡构形。最后给出了数值实例。
This article addresses the equilibrium configurations of a planar 3-dof parallel robot with flexural pivots.A system of four coupled transcendental equations with trigonometric functions in four unknowns is derived from the inverse static analysis.The initial configurations of the parallel robot are discussed firstly,then a numerical method is presented based on the Newtons iterative method,which can find all the real roots of the system of transcendental equations with trigonometric functions without initial value selection in the specified intervals to detect the entire set of the initial configurations and the equilibrium configurations of the parallel robot with flexural pivots.Finally,a numerical example is provided.
出处
《机械设计与研究》
CSCD
2004年第5期30-32,共3页
Machine Design And Research
基金
陕西省自然科学研究资助项目(2003E34)
西安电子科技大学青年科研工作站基金资助(020402)
关键词
平面并联机器人
并联机构
柔性铰链
平衡构形
planar parallel robot
parallel mechanism
flexural pivot
equilibrium configuration
