并联机器人刚度与静力学研究现状与进展

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doi:10.6052/1000-0992-11-073

浙江工业大学特种装备制造与先进加工技术教育部重点实验室, 浙江省特种装备制造与先进加工技术重点实验室, 杭州 310014

基金项目:国家自然科学基金项目(50805129,51275470)资助;浙江省自然科学基金项目(LY12E07004);浙江省教育厅重点项目(Z201121137)和浙江工业大学特种装备制造与先进加工技术教育部/浙江省重点实验室开放基金项目(2010EM003)资助

详细信息

作者简介:
艾青林,男,浙江工业大学机械工程学院副教授,博士,硕士研究生导师,美国佐治亚理工学院访问学者,主要从事钢带并联机器人,机电一体化技术方面的研究.曾主持国家自然科学基金与省部级项目,发表论文30余篇,申请多项发明与实用新型专利并授权.

通讯作者:
艾青林

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出版历程
- 收稿日期:2011-05-20
- 修回日期:2012-03-04
- 刊出日期:2012-09-25

Review of stiffness and statics analysis ofparallel robot

Key Laboratory of Special Purpose Equipment and Advanced Manufacturing Technology, Zhejiang University of Technology, Ministry of Education, Zhejiang Provincial Key Laboratory of Special Purpose Equipment and Advanced ManufacturingTechnology, Hangzhou 310014, China

Funds:The project was supported by the National Natural Science Foundation of China (50805129, 51275470), Zhejiang Provincial Natural Science Foundation of China (LY12E07004), the Key Program of Zhejiang Provincial Education Department(Z201121137), the Open-Ended Fund of Key Laboratory of E & M (Zhejiang University of Technology), Ministry of Education &Zhejiang Province (2010EM003)

More Information

Corresponding author:AI Qinglin

摘要

摘要:
并联机器人的刚度与静力学分析, 对于机构力学性能研究具有重要的理论价值和意义. 本文围绕杆支撑、绳牵引和钢带传动 3 种结构形式, 详细阐述了国内外并联机构刚度和静力学分析的研究现状. 着重从有限元、解析模型和性能分析 3 方面分析了杆支撑并联机构的刚度研究进展. 讨论了有关绳牵引并联机构中绳拉力、动载荷频率、绳牵引预紧力与刚度、静力学之间关系的研究成果. 根据钢带并联机器人结构的特殊性, 对钢带并联机构的刚度与静力学分析中可能遇到的失稳与振动问题进行了探讨. 最后, 对并联机器人技术发展情况进行总结与展望, 指出随着刚度分析与静力学分析的不断深入, 并联机器人的力学理论将会日趋成熟和完善, 为并联机器人机构优化设计提供更深入、系统的理论依据.
- 并联机器人/
- 刚度/
- 静力学分析/
- 杆支撑/
- 绳牵引
Abstract:
It is of much significance to analyze the stiffness and statics of parallel robots for the study ontheir mechanical properties. The development of stiffness and static analysis of parallel robots in domestic andforeign countries were illustrated in detail via three kinds of structures, i.e. rod-support, wire-driven and steelband driven parallel robots. The progress in stiffness analysis of rod-support parallel mechanism was presentedin terms of three different methods: finite element, analytical modeling and performance analysis. The resultsof the relation between wire tension, frequency of dynamic loads, wire pre-tightening force and the stiffnessand statics of wire-driven parallel mechanism were discussed. According to the specific structure of steel banddriven parallel robots, the problems about instablity and vibration were discussed which may be encountered inanalyzing the stiffness and statics of steel band parallel mechanism. Finally, the development of parallel robotswas summarized, and the prospect was predicted that the mechanics theory of parallel robots will becomeincreasingly matured and perfect, while the stiffness and statics analysis will witness in-depth development.The mechanics theory will provide systematic theoretical basis for the optimization design of parallel robotmechanism.
- parallel robot/
- stiffness/
- static analysis/
- rod-support/
- wire-driven

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