摘要
介绍了并联机器人的特点及其应用,对全柔性铰链平面并联机器人建立了刚性模型,并采用闭环线型原理建立理论运动学线性模型(Jacobian矩阵),用ANSYS软件对其进行有限元分析,得到有限元运动学模型(Jacobian矩阵值),讨论两者关系,发现有限元模型比理论模型要精确。
The parallel robot characteristic and application are introduced. A method of deriving a linear and effective kinematic model based on the loop closure theory is built. This method is illustrated with a parallel micro-moving flexure joint robot. Then the finite element analysis with ANSYS software is carried on. The finite element kinematics model （Jacobian matrix value） is obtained. Finally, that the finite element model is more precise than the theoretical model is discovered.
出处
《计算机工程与设计》
CSCD
北大核心
2006年第19期3701-3702,3720,共3页
Computer Engineering and Design
关键词
全柔性铰链
并联机器人
微动机器人
有限元分析
运动学模型
entire flexible hinge
parallel robots
micro-motion robots
finite element analysis
kinematic model
