Analysis of Flexibility of 3-PSS Flexible Parallel Micromanipulation Robot
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摘要: 柔度矩阵建模是进行全柔性机构分析的基础。针对3-PSS型柔性并联微操作机器人，首先基于坐标变换法计算机构单条支链柔度矩阵，并基于此建立机器人整体柔度矩阵模型。然后进行数值算例计算和Ansys有限元仿真分析，并将理论计算结果与有限元分析结果进行对比，验证了柔度矩阵建模的正确性。最后对柔性并联机器人进行了柔度性能分析，并得出了机构的结构参数对柔度的影响规律，分析结果对3-PSS型柔性并联机构的结构优化设计提供了依据。Abstract: Compliance matrix modeling is the basis for analyzing the fully flexible mechanisms. For the 3-PSS type flexible parallel micro-manipulation robot, the compliance matrix of a single branch of the mechanism is calculated based on the coordinate transformation method, and the overall compliance matrix model for robot is established. Then, numerical calculation examples and ANSYS finite element simulation analysis are performed, and the calculated results are compared with the finite element analysis results to verify the correctness of the compliance matrix modeling. Finally, the flexibility performance of the flexible parallel robots is analyzed, and the influence of the structure parameters of the mechanism on the flexibility is obtained. The analysis results provide a basis for the structural optimization design of the 3-PSS flexible parallel mechanism.
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Key words:
- 3-PSS mechanism /
- flexible parallel robot /
- coordinate transformation /
- compliance matrix
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表 1 3-PSS柔性并联微操作机器人结构参数
参数 数值 参数 数值 柔性球铰材料 65Mn 柔性球铰切割半径R/mm 2.5 杨氏模量E/GPa 200 圆弧的圆心角θm/（°） 60 泊松比ν 0.3 刚性杆长度L/mm 120 t/mm 1 上平台外接圆半径r1/mm 103 刚性杆半径r/mm 5 动平台内切圆半径r2 /mm 18 
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表 2 3-PSS柔性并联微操作机器人柔度分析结果
柔度/（m·N−1） 理论模型 有限元模型 误差/% x向Cx 4.316×10−7 4.572×10−7 5.6 y向Cy 4.316×10−7 4.572×10−7 5.6 z向Cz 2.260 3×10−8 2.419×10 −8 6.5
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