高动态透明性主手的优化设计

发布时间：2018-04-11 03:19

本文选题：主手 + 动态透明性　；参考：《天津大学学报(自然科学与工程技术版)》2017年02期

【摘要】：动态透明性是主手的核心性能之一,直接影响到主手的力感精度以及操作者的疲劳感.为了提高动态透明性,采用弱不平衡设计与结构拓扑优化,在减少惯性力的同时考虑了主手形变的影响.通过研究优化过程中表观质量的变化规律以及主手末端的变形特点,提出了一种拓扑优化方案,使主手全局表观质量与标称位置处的表观质量明显减少.研究结果表明,主手全局表观质量与标称位置处表观质量分别减少了28.2%,和32.0%,,而100,g以内的表观质量所占面积比例增加了27.6%,,该方法可以使设计出的主手具有良好的动态性能.
[Abstract]:Dynamic transparency is one of the core properties of the master hand, which directly affects the force sensitivity of the master hand and the fatigue of the operator.In order to improve dynamic transparency, weak unbalanced design and structural topology optimization are used to reduce inertial force and take into account the influence of the deformation of the main hand at the same time.By studying the law of the change of apparent mass and the deformation characteristics of the end of the master hand, a topological optimization scheme is proposed, which reduces the apparent mass at the nominal position and the overall apparent mass of the master hand.The results show that the overall apparent mass of the master hand and the apparent mass at the nominal position are reduced by 28.2and 32.0g, respectively, while the proportion of the apparent mass within 100g increases by 27.6g. This method can make the designed master hand have good dynamic performance.
【作者单位】：天津大学机械工程学院教育部机构理论与装备设计重点实验室;
【基金】：国家高技术研究发展计划(863计划)资助项目(2007AA04Z205)~~
【分类号】：TP242

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