On the elastostatic analysis of mechanical systems
On the elastostatic analysis of mechanical systems
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DOI：
10.1016/j.mechmachtheory.2012.07.011
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发表时间：
2012-12-01
影响因子：
5.2
通讯作者：
Lessard, Larry
中科院分区：
文献类型：
--
作者：
Taghvaeipour, Afshin;Angeles, Jorge;Lessard, Larry
本文的主题是机器人结构的弹性静力分析。分析方法是基于广义弹簧的概念，其中每个柔性杆被替换为六维广义弹簧。该弹簧的刚度矩阵，当链接的复杂性需要时，应该通过有限元分析（FEA）以数值方式获得。在这项研究中，一种新的配方的建模的所有六个较低的运动副（LKP），当连接两个柔性连杆，介绍。借助于这一公式，得到了具有柔性连杆机构的并联机构（称为Pi型关节）的刚度矩阵的简洁公式。作为一个说明性的例子，该程序被应用到一个Schonflies运动生成器，具有Pi关节。为了说明所涉及的计算的在线可行性，刚度矩阵的无量纲因子的最小特征值，用作刚度性能指标，被绘制沿着一个标准的轨迹，采用了工业。(C)2012爱思唯尔有限公司保留所有权利。
The subject of this paper is the elastostatic analysis of robot structures. The method of analysis is based on the concept of generalized spring, in which each flexible link is replaced with a six-dimensional generalized spring. The stiffness matrix of this spring, when the link complexity so requires, should be obtained numerically, via finite element analysis (FEA). In this study, a novel formulation for the modeling of all six lower kinematic pairs (LKP), when connecting two flexible links, is introduced. By resorting to this formulation, a compact formula for the stiffness matrix of a parallelogram with flexible linkages, what is called Pi-joint, is obtained. As an illustrative example, the procedure is applied to a Schonflies motion generator that features Pi joints. In order to illustrate the online feasibility of the computations involved, the minimum eigenvalues of a dimensionless factor of the stiffness matrix, used as stiffness performance index, are plotted along a standard trajectory adopted by the industry. (C) 2012 Elsevier Ltd. All rights reserved.