【摘要】 采用有限元理论建立Delta并联机器人柔性构件的运动微分方程,结合机构的运动特点,规定了结点位移的方向,得到机构系统的动力学模型。将机构的真实运动看作名义运动与弹性振动的叠加,同时将动平台的位置和方向误差看作名义运动的摄动,得出动平台位形误差与结点位移的关系方程。在实例中,综合考虑重力、惯性力及阻尼共同作用下的动力响应,得到机构模态频率在工作空间的特性,对动平台的6维误差进行了全面评估。更多还原

【Abstract】 The differential equation of motion of the Delta parallel robot flexible component was established by the finite element theory,the mechanism’s dynamics model was gained by combining the kinematic characteristics and specifying the direction of the node displacement.The real motion of mechanism was regarded as the superposition of the nominal motion and elastic vibration.The position and direction error of the moving platform was regarded as the perturbation of nominal motion.The relation equation of configuration error and node displacement of moving platform was obtained.In the example,the characteristic of modal frequency of mechanism in the workspace was gained by considering the gravity,inertial force and damping dynamic response under the action.The 6-D error of the moving platform was evaluated comprehensively.更多还原