【作者】 宁祎； 王红卫；

【Author】 Ming yi Polytechnic Institute of Zheng Zhou, Zheng Zhou 450007 Wang Hongwei Zhengzhou Institute of Light Industry, Zheng Zhou 450002

【机构】 郑州工业高等专科学校机器人研究所； 郑州轻工业学院机械系；

【摘要】 手控器结构设计的轻量化和宜人化,使其刚度和固有频率明显下降,仅限于刚体动力学分析已不能满足要求。本文采用瞬时结构假定方法,建立了具有复杂空间并联机构的TPM手控器计算模型。以有限元分析为工具,对其进行KED分析,探索设计参数与动态性能的内在关系,在此基础上对设计参数进行优化,为高性能TPM手控器设计提供了理论依据。更多还原

【Abstract】 The master manipulator must be designed small and lightweight to fit the narrow space of the spacecraft and to improve the maneuverability of teleoperation. However, it reduce the stiffness and Natural Frequencies of master manipulator. The method of rigid body dynamic analysis is inadequate for the analysis of master manipulator. Based on the instantaneous structure manipulator assumption, the TPM master manipulator calculating model with complex parallel structure is presented. The kineto-elasto dynamic (KED) performance is analysed by using finite element method (FEM). The interrelationship of design parameters and dynamic property is studied, on the basis of this, the optimum design parameters of master manipulator are obtained, it is useful to guide the high accurate manipulator design. The results are satisfactory.更多还原