考虑单元界面关联特性的微定位平台刚度建模

doi:10.13700/j.bh.1001-5965.2016.0972

北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (1): 10-17.doi: 10.13700/j.bh.1001-5965.2016.0972

考虑单元界面关联特性的微定位平台刚度建模

宫金良, 郑洋洋, 张彦斐

山东理工大学机械工程学院, 淄博 255049

收稿日期:2016-12-28 修回日期:2017-02-15 出版日期:2018-01-20 发布日期:2018-01-29
通讯作者: 张彦斐 E-mail:84374294@qq.com
作者简介:宫金良,男,博士,副教授。主要研究方向:并联机器人分析与设计理论;郑洋洋,女,硕士研究生。主要研究方向:并联机器人分析与设计理论;张彦斐,女,博士,副教授。主要研究方向:并联机器人分析与设计理论。
基金资助:
国家自然科学基金（61303006）；山东省优秀中青年科学家科研奖励基金（BS2012ZZ009）

Stiffness modeling of micro-positioning platform considering unit interface relevance characteristics

GONG Jinliang, ZHENG Yangyang, ZHANG Yanfei

School of Mechanical Engineering, Shandong University of Technology, Zibo 255049, China

Received:2016-12-28 Revised:2017-02-15 Online:2018-01-20 Published:2018-01-29

摘要/Abstract

摘要： 设计了一种含折叠梁的并联微定位平台，具有大行程、低阻力的特点。采用传递矩阵法求解其刚度，建立各柔性子单元的传递矩阵，利用相邻单元公共结点实现传递性，通过力平衡方程、变形协调方程求解其末端位移与输入力之间的刚度矩阵，并提出了考虑全柔性的弹性折叠梁及弹性移动副刚度的求解方法。将传递矩阵法求解结果与有限元分析结果对比，误差在20.5%以内，在此基础上，考虑到模块化刚度分析方法将各子单元视为独立体，忽略各子单元之间的界面关联特性，提出了一种根据各子单元界面关联特性进行修正的方法，结果表明，该方法使其误差降低到10%以内，更好地满足了实际工程需求。

关键词: 柔性机构, 刚度, 传递矩阵, 界面关联特性, 修正方法

Abstract: A parallel micro-positioning platform with folded beams was designed, which has characteristics of large stroke and low resistance. Stiffness was solved by transfer matrix method. First, transfer matrix of flexible subunit was established. The transitivity characteristics became available by taking advantage of the common node belonging to adjacent elements. Finally, the stiffness matrix between input force and output displacement of flexible mechanism was solved according to the force balance equation and compatibility equation of deformation. A method to solve the stiffness of compliant folded beam and compliant prismatic pair considering full flexibility was put forward. The result of deformation error is less than 20.5% compared with finite element analysis. On this basis, this method ignored the correlation between the subunits because the modular stiffness analysis method regarded each subunit as independent. A modified method considering each subunit dependency was put forward, which reduced the error to less than 10% and made the results better meet the actual engineering needs.

Key words: flexible mechanism, stiffness, transfer matrix, interface relevance characteristics, revision method

中图分类号:

TH112.5

宫金良, 郑洋洋, 张彦斐. 考虑单元界面关联特性的微定位平台刚度建模[J]. 北京航空航天大学学报, 2018, 44(1): 10-17.

GONG Jinliang, ZHENG Yangyang, ZHANG Yanfei. Stiffness modeling of micro-positioning platform considering unit interface relevance characteristics[J]. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2018, 44(1): 10-17.

参考文献

[1] 于靖军,郝广波,陈贵敏,等.柔性机构及其应用研究进[J].机械工程学报,2015,51(13):53-68.YU J J,HAO G B,CHEN G M,et al.State-of-art of compliant mechanisms and their applications[J].Chinese Journal of Mechanical Engineering,2015,51(13):53-68(in Chinese).
[2] 杨启志,郭宗和,马履中,等.全柔性机构在并联微动机器人中的应用[J].机械设计与研究,2005,21(5):45-48.YANG Q Z,GUO Z H,MA L Z,et al.Application of the fullly compliant mechanism in the parallel micro-motion robots[J]. Machine Design and Research,2005,21(5):45-48(in Chinese).
[3] HAO G B,KONG X W.A novel large-range XY compliant parallel manipulator with enhanced out-of-plane stiffness[J].Journal of Mechanical Design,2012,134(6):061009.
[4] 艾青林,黄伟锋,张洪涛.并联机器人刚度与静力学研究现状与进展[J].力学进展,2012,42(5):583-592.AI Q L,HUANG W F,ZHANG H T.Review of stiffness and statics analysis of parallel robot[J].Advances in Mechanics,2012,42(5):583-592(in Chinese).
[5] STANFORD B,BERAN P.Conceptual design of compliant mechanisms for flapping wing with topology optimization[J].AIAA Journal,2011,49(4):855-867.
[6] WISSA A,TUMMALA Y,HUBBARD J E,et al.Passively morphing ornithopter wings using a novel compliant spine:Design and testing[J].Smart Materials and Structures,2012,21(9):094028.
[7] 于靖军,毕树生,宗光华.空间全柔性机构位置分析的刚度矩阵法[J].北京航空航天大学学报,2002,28(3):323-326.YU J J,BI S S,ZONG G H.Stiffness matrix method for displacement analysis of fully spatial compliant mechanisms[J].Journal of Beijing University of Aeronautics and Astronautics,2002,28(3):323-326(in Chinese).
[8] LIU X J, WANG J, GAO F, et al.On the design of 6-DOF parallel micro-motion manipulators[C]//Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway:IEEE Press,2001:343-348.
[9] 孙立宁,董为,杜志江.基于大行程柔性铰链的并联机器人刚度分析[J].机械工程学报,2005,41(8):90-95.SUN L N,DONG W,DU Z J.Stiffness analysis on a wide-range flexure hinge-based parallel manipulator[J].Chinese Journal of Mechanical Engineering,2005,41(8):90-95(in Chinese).
[10] 李育文,张华,杨建新,等.6-UPS并联机床静刚度的有限元分析和实验研究[J].中国机械工程,2004,15(2):112-115.LI Y W,ZHANG H,YANG J X,et al.Finite element analysis and experimental study for the stiffness of a 6-UPS parallel kinematics machine[J].China Mechanical Engineering,2004,15(2):112-115(in Chinese).
[11] YU Y Q,FENG Z L,XU Q P.A pseudo-rigid-body 2R model of flexural beam in compliant mechanisms[J].Mechanism and Machine Theory,2012,55(9):19-33.
[12] 邱丽芳,霍明磊,李威.六杆柔顺机构的伪刚体模型[J].北京科技大学学报,2013,35(5):682-686.QIU L F,HUO M L,LI W.Pseudo-rigid-body model of a six-bar full-compliant mechanism[J].Journal of University of Science and Technology Beijing,2013,35(5):682-686(in Chinese).
[13] 李青宁.变截面杆元传递矩阵法[J].西安建筑科技大学学报, 2001,33(1):18-23.LI Q N.The transfer matrix method of bar elements with variable cross-section[J].Journal of Xi'an University of Architecture & Technology,2001,33(1):18-23(in Chinese).
[14] 郑洋洋,宫金良,张彦斐.基于传递矩阵法的柔性杠杆放大机构刚度分析[J].北京航空航天大学学报,2017,43(4):849-856.ZHENG Y Y,GONG J L,ZHANG Y F.Rigidity analysis of a flexible lever magnifying mechanism based on transfer matrix method[J].Journal of Beijing University of Aeronautics and Astronautics, 2017,43(4):849-856(in Chinese).
[15] 杨春辉.平行板型柔性移动副的刚度计算及分析[J].现代制造工程,2013(12):30-33.YANG C H.The stiffness design calculation and analysis of parallel plate flexible prismatic pair[J].Modern Manufacturing Engineering,2013(12):30-33(in Chinese).

考虑单元界面关联特性的微定位平台刚度建模

Stiffness modeling of micro-positioning platform considering unit interface relevance characteristics

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	章健, 张大义, 王永锋, 马艳红, 洪杰. 共用支承-转子结构系统振动耦合特性分析[J]. 北京航空航天大学学报, 2019, 45(9): 1902-1910.
[2]	洪杰, 沈玉秡, 王永锋, 马艳红. 动力涡轮转子结构系统力学特性稳健设计方法[J]. 北京航空航天大学学报, 2019, 45(3): 437-445.
[3]	房海蓉, 王立, 张海强, 杨会. 一种含闭环支链的新型并联机构设计与分析[J]. 北京航空航天大学学报, 2019, 45(3): 454-463.
[4]	洪杰, 杨振川, 王永锋, 马艳红. 航空发动机承力结构隔振设计方法及试验[J]. 北京航空航天大学学报, 2019, 45(1): 10-17.
[5]	洪杰, 徐翕如, 苏志敏, 马艳红. 高速转子连接结构刚度损失及振动特性[J]. 北京航空航天大学学报, 2019, 45(1): 18-25.
[6]	肖志鹏, 钱文敏, 周磊. 考虑壁板刚度匹配的大型飞机复合材料机翼气动弹性优化设计[J]. 北京航空航天大学学报, 2018, 44(8): 1629-1635.
[7]	王远, 臧勇, 管奔, 秦勤. 基于单胞有限元的波纹板等效刚度特性[J]. 北京航空航天大学学报, 2018, 44(6): 1230-1238.
[8]	高冬, 宋智斌, 赵亚茹. 干扰观测器在一种非线性刚度驱动器中的应用[J]. 北京航空航天大学学报, 2018, 44(6): 1328-1336.
[9]	杨会, 房海蓉, 李典, 方跃法. 一种新型并联灌注机器人运动学分析和多目标优化[J]. 北京航空航天大学学报, 2018, 44(3): 568-575.
[10]	孟维迎, 谢里阳, 胡杰鑫, 吕骁, 秦波, 王博文. 纤维金属层板金属层应变测量及应力预测方法[J]. 北京航空航天大学学报, 2018, 44(1): 142-150.
[11]	郑洋洋, 宫金良, 张彦斐. 基于传递矩阵法的柔性杠杆放大机构刚度分析[J]. 北京航空航天大学学报, 2017, 43(4): 849-856.
[12]	邓昊, 程伟. 结构动力特性分析中的圆角建模方法[J]. 北京航空航天大学学报, 2016, 42(9): 1969-1976.
[13]	张仁嘉, 吴志刚, 杨超. 电动伺服舵系统动力学建模及颤振分析[J]. 北京航空航天大学学报, 2016, 42(7): 1368-1376.
[14]	李明高, 李明, 韩璐, 赵宏哲. 基于多目标的高速列车隔热结构拓扑优化[J]. 北京航空航天大学学报, 2016, 42(5): 878-884.
[15]	邓昊, 程伟. 一种功能梯度Timoshenko梁的损伤识别方法[J]. 北京航空航天大学学报, 2016, 42(10): 2214-2221.