余跃庆,马 兰,崔忠炜,李 渊.并联机器人开槽薄壁柔顺关节设计与实验[J].农业机械学报,2014,45(5):284-290.
Yu Yueqing,Ma Lan,Cui Zhongwei,Li Yuan.Design and Experiment of Open Thin-walled Flexure Joints of Parallel Robot[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(5):284-290.
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并联机器人开槽薄壁柔顺关节设计与实验   [下载全文]
Design and Experiment of Open Thin-walled Flexure Joints of Parallel Robot   [Download Pdf][in English]
投稿时间:2013-05-17  
DOI:10.6041/j.issn.1000-1298.2014.05.044
中文关键词:  柔顺关节 运动副 并联机器人
基金项目:国家自然科学基金资助项目(51175006)
作者单位
余跃庆 北京工业大学 
马 兰 北京工业大学 
崔忠炜 北京工业大学 
李 渊 北京工业大学 
中文摘要:针对传统柔顺关节运动范围小、易产生轴向漂移的不足,依据3RRR并联机器人运动范围,以关节的移动范围及所需刚度作为条件,对关节的几何尺寸进行了设计计算,并用ANSYS软件进行强度分析,设计了一种新型开槽式薄壁柔顺关节。利用扭转作为主要变形方式时,该柔顺关节具有扭转角度可达到36°及轴线相对固定不易漂移的优点。根据关节设计尺寸选择65Mn为材料进行了加工,在三自由度并联机器人实验平台上进行了片簧式与开槽式两种柔顺关节的实验对比,实验结果表明设计的开槽式薄壁柔顺关节能够完成轨迹跟踪任务,且最大相对误差为6.05%,对比片簧式柔顺关节具有一定优越性。
Yu Yueqing  Ma Lan  Cui Zhongwei  Li Yuan
Beijing University of Technology;Beijing University of Technology;Beijing University of Technology;Beijing University of Technology
Key Words:Open thin-walled flexure joint Kinematic pairs Parallel robot
Abstract:Limited motion range and easily happened rotation axis drift are the main disadvantages of traditional flexible joint of parallel robot. In order to promote the performance of flexure joint, a new design of open thin-walled flexure joint was proposed. According to the range of motion of 3RRR parallel robot, the geometry of joint was calculated by using the motion range of joint and the required joint stiffness as design parameters. And the structure strength of joint was analyzed via ANSYS. Torsion is the deformation mode of the open thin-walled flexure joint. The advantages of 36 degrees motion range and fixed rotation axis are presented in this joint. The practical joint is made of 65Mn spring steel according to the designed joint geometry. The contrast experiments between leaf spring and open thin-walled flexure joints were carried out on a three DOF parallel robot experiment platform. The results show the designed open thin walled flexure joint can accomplish trajectory tracking missions and the maximum relative error is 6。05%. Its superiority over the leaf spring joint is presented by the results.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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