含有柔顺关节的并联机器人应力分析

Stress Analysis of Parallel Robots With Compliant Joints

摘要: 为了研究含有柔顺关节的并联机器人系统疲劳寿命和优化设计,基于含有柔顺关节的三自由度平面并联机器人动力学模型,推导动应力理论公式. 运用MATLAB软件进行计算,并且与SolidWorks、ANSYS和ADAMS三种软件联合共同构建的仿真模型结果进行了对比. 结果表明:理论计算和软件仿真所得的应力值变化趋势总体一致,两者相对误差最大值为6.71%,从而相互验证其基本正确有效.

Abstract: To study the fatigue life and optimized design of the parallel robot with compliant joints based on the model of a 3-DOF planar parallel robot with compliant joints, the formula of the stress was derived. The theory results were obtained on MATLAB, and compared with the results of united simulation model by SolidWorks, ANSYS and ADAMS. Results show that the trends of the stresses of the theoretical calculations and software simulations are generally consistent, and the maximum relative error is 6.71%, which is proven to be correct and effective.