一种打磨机械臂的静刚度建模与实验

发布时间：2018-04-30 20:22

本文选题：机械臂 + 铸件打磨　；参考：《中国机械工程》2017年20期

【摘要】：设计出一种采用(U+UPS)P+UPS并联机构的打磨3-DOF机械臂。运用子结构拆分和叠加思想,将机械臂手腕的位姿变形因素拆分为只考虑各支链拉/压变形、只考虑UP支链扭转变形、只考虑UP支链弯曲变形3个主要影响因素。通过基于矢量回路的虚功原理和结构矩阵建立3个主要影响因素的刚度模型,并根据各支链的结构特点定义了支链内各部件变形系数。通过叠加原理将各影响因素的刚度模型叠加整合为机械臂的整体刚度模型。研制出机械臂的实验样机本体,采用一套高精度机器人刚度实验系统对机械臂实验样机进行了刚度标定。实验结果表明:机械臂实验样机的位置变形实测值与理论值之间偏差均小于3μm,姿态变形实测值与理论值之间偏差均小于0.05°,机械臂实验样机的变形均在合理范围之内。
[Abstract]:A polished 3-DOF manipulator using U UPS)P UPS parallel mechanism is designed. By using the idea of substructure splitting and superposition, the position and posture deformation factors of the manipulator wrist are divided into three main influencing factors: the tension / compression deformation of each branch chain, the twisting deformation of up branch chain, and the bending deformation of up branch chain. Based on the virtual work principle of vector loop and the structure matrix, the stiffness models of three main influencing factors are established, and the deformation coefficients of each component in the branch chain are defined according to the structural characteristics of each branch chain. According to the principle of superposition, the stiffness model of each influencing factor is integrated into the integral stiffness model of the manipulator. The experimental prototype body of the manipulator was developed and a set of high precision robot stiffness experiment system was used to calibrate the stiffness of the manipulator experimental prototype. The experimental results show that the deviation between the measured values and the theoretical values is less than 3 渭 m, and the deviation between the measured values and the theoretical values is less than 0.05 掳. The deformation of the prototype is within a reasonable range.
【作者单位】：燕山大学河北省并联机器人与机电系统实验室;河北科技师范学院城市建设学院;燕山大学先进锻压成形技术与科学教育部重点实验室;
【基金】：国家科技支撑计划资助项目(2015BAI06B01) 河北省高等学校科学技术研究青年基金资助项目(QN2015185) 河北科技师范学院博士启动基金资助项目(2015YB004)
【分类号】：TH112

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