摘要
对新型3-CPS/RPPS型六自由度机构进行有限元建模和模态分析,系统介绍了采用有限元法进行多自由度机构建模和进行模态分析的过程。介绍了新型3-CPS/RPPS机构的机构原理;探讨了采用有限元法进行多自由度机构相关机构分析的可行性;详细介绍了采用基于静凝聚理论的自由度释放法建立多自由度机构铰链的过程,并修改开源有限元程序CALFEM的3维梁单元实现了铰链的功能;基于MATLAB和CALFEM,对3-CPS/RPPS机构进行简化,建立了基于三维梁单元的有限元模型,进行了模态分析,给出了最低8阶固有频率和前4阶振型。最后探讨了有限元法在多自由度机构或并联机器人机构分析领域的应用前景。
A finite element model was established for a novel 3-CPS/RPPS mechanism and a consequent modal analysis was carried out. Both the finite element modeling method and the modal o^alyzing technique were covered in detail for mechanisms with multi-degrees of freedom （DOF）. First, the mechanical principle of the novel 3-CPS/RPPS type 6-DOF mechanism was described. Feasibility study was then condueted for applying finite element method （FEM） to analyze multi- DOF mechanisms. Based on the static condensation theory, member end releasing technique was elaborated for simulation of hinges in a multi-DOF mechanism. And the technique was hence implemented to have realized hinges by adapting the three- dimensional （3D） beam element in the MATLAB-based open-source FEM package CALFEM. Afterwards, with CALFEM and MATLAB, a 3D-beam-element-based finite element model was built for the 3-CPS/RPPS mechanism and further used for the next modal analysis, where the 8 lowest eigenfrequencies and the first 4 corresponding modes were given. The perspective of using FEM to preform analysis of multi-DOF mechanisms/parallel manipulators was commented at the end.
出处
《机械设计与制造》
北大核心
2013年第10期93-96,共4页
Machinery Design & Manufacture
基金
国家自然科学基金(10973025)
江苏省外专引智项目(S2010320093)
关键词
有限元法
有限元建模
模态分析
多自由度机构
并联机器人
机构分析
Finite Element Method
Finite Element Modeling
Modal Analysis
Multi-DOF Mechanism
Parallel Manipulator
Mechanical Analysis
