北京航空航天大学学报 ›› 2020, Vol. 46 ›› Issue (4): 798-807.doi: 10.13700/j.bh.1001-5965.2019.0286

• 论文 • 上一篇    下一篇

3-PPP型柔性并联微定位平台的设计与分析

王保兴1, 孟刚1, 林苗1, 李巍2, 曹毅1,3   

  1. 1. 江南大学 机械工程学院, 无锡 21412;
    2. 苏州工业职业技术学院, 苏州 215104;
    3. 江苏省食品先进制造装备技术重点实验室, 无锡 214122
  • 收稿日期:2019-06-10 发布日期:2020-04-21
  • 通讯作者: 曹毅 E-mail:caoyi@jiangnan.edu.cn
  • 作者简介:王保兴,男,硕士研究生。主要研究方向:柔性机构学;孟刚,男,硕士研究生。主要研究方向:柔性机构学;林苗,男,硕士研究生。主要研究方向:柔性机构学;李巍,男,博士。主要研究方向:软体机器人;曹毅,男,博士,教授。主要研究方向:并联机器人、混联机器人、柔性机器人、软体机器人。
  • 基金资助:
    江苏省“六大人才高峰”计划(ZBZZ-012);高等学校学科创新引智计划(B18027);江苏省研究生创新计划(SJCX18-0630,KYCX18-1846)

Design and analysis of a 3-PPP compliant parallel micro-positioning stage

WANG Baoxing1, MENG Gang1, LIN Miao1, LI Wei2, CAO Yi1,3   

  1. 1. School of Mechanical Engineering, Jiangnan University, Wuxi 21412;
    2. Suzhou Vocational Institute of Industrial Technology, Suzhou 215104, China;
    3. Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi 214122, China
  • Received:2019-06-10 Published:2020-04-21
  • Supported by:
    The Six Talent Peaks Project in Jiangsu Province (ZBZZ-012); "111" Project (B18027); Postgraduate Research and Practice Innovation Program of Jiangsu Provence (SJCX18-0630,KYCX18-1846)

摘要: 为解决现有空间平动柔性并联微定位平台(CPMS)结构布局不紧凑,且多轴驱动时各运动副的寄生运动相互累加,导致平台耦合误差增大的问题。首先,设计了一种基于柔性薄板的分布柔度式3-PPP型柔性并联微定位平台。其次,通过结构优化减小了平台的体积,并消除了支链中移动副寄生运动的累加现象。然后,基于柔度矩阵法建立了平台的输入刚度理论模型,并采用有限元仿真验证了理论模型的正确性;同时计算了平台的固有频率,并探究了其与柔性薄板尺寸参数之间的关系。最后,将结构优化前后的平台通过有限元仿真进行了对比分析。结果表明:结构优化后平台的体积减小了67%,且平台在单轴和多轴驱动时均具有更优的运动解耦特性和输入输出一致性。

关键词: 柔性并联微定位平台(CPMS), 柔度矩阵, 耦合误差, 固有频率, 有限元仿真

Abstract: The structure layouts of the existing spatial translational compliant parallel micro-positioning stages are not compact, and the parasitic motion of each kinematic joint accumulates during multi-axis actuation, which leads to the augment of cross-axis coupling error. In order to solve these problems, first, a distributed-compliance 3-PPP spatial translational compliant parallel micro-positioning stage (CPMS) based on compliant sheet was designed. Secondly, the stage volume was reduced, and the parasitic motion accumulation phenomenon of kinematic joints in each limb was eliminated by the way of structure optimization. Then, the theoretical model of input stiffness was deduced through compliance matrix method. The validity of the theoretical model was proved by finite element simulation. Besides, the natural frequency of the CPMS was calculated, and the relationship between natural frequency of the CPMS and size parameters of compliant sheet was explored. Finally, comparative analysis of the CPMS before and after structure optimization was conducted by finite element simulation. The results show that the volume of the CPMS is reduced by 67% after structure optimization, and the CPMS has better kinematic decoupling characteristic and input output consistency in both single-axis and multi-axis actuation.

Key words: compliant parallel micro-positioning stage (CPMS), compliance matrix, coupling error, natural frequency, finite element simulation

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