摘要
基于柔顺机构学、机械原理和空间机构学,设计了由压电陶瓷驱动器驱动的六自由度柔性精密定位平台。利用伪刚体法和虚功原理对平台进行静力学分析,得到了沿X、Y、Z轴移动,绕X、Y轴摆动和绕Z轴转动6个自由度的静态刚度及运动特性,利用APDL对定位平台的结构进行优化,得到了平台6个方向运动的最大行程。对定位平台进行有限元仿真,并通过搭建的实验平台进行测试,将实验结果与理论结果和仿真结果进行对比分析,验证了理论模型的正确性及平台结构的合理性。
Firstly,based on the compliant mechanisms,theory of machines and mechanisms and spatial mechanisms,a compliant precision positioning platform with six degrees of freedom and driven by piezoelectric ceramic（ PZT） actuators is designed. Secondly,a static analysis of the platform is carried out according to the pseudo- rigid- body（ PRB） method and virtual work principle,the static stiffness and moving characteristics along six directions are obtained. And a structural optimization is completed through APDL,the maximum stroke along six directions are acquired. Thirdly,a finite element simulation and an experiment in view of the positioning platform are carried out. As a result,the correctness of theoretical model and the rationality of the platform structure are validated by means of the comparison and analysis among the theoretical results,the simulation results and the experimental results.
出处
《机械传动》
CSCD
北大核心
2014年第10期43-47,共5页
Journal of Mechanical Transmission
基金
上海市空间飞行器机构重点实验室开放课题(SM2014D201)
重庆大学机械传动国家重点实验室自主研究项目(0301002109150)
关键词
精密定位
柔性铰链
静态刚度
有限元仿真
Precision positioning
Flexible hinge
Static stiffness
Finite element simulation（FEA）
