一种3自由度并联柔索驱动机器人的变刚度特性研究

以一种3自由度并联驱动机器人为研究对象,研究这种机器人的变刚度特性。从操作臂的静力学出发,对并联柔索驱动机器人的刚度进行了分析得到刚度公式。从得到的公式可以看出,操作臂的刚度不仅与各分支的刚度有关,与操作臂位姿有关,还与张紧柔索的张紧力有关。在机器人各分支上串联刚度较低的弹簧后做刚度实验,试验结果验证了对刚度理论分析所得的结论。

Take one kind of 3-DOF parallel wire driven robot as subject investigated,study on the alterable stiffness characteristic of this kind of robot. Based on the statics of manipulator,analyse the stiffness of the parallel wire driven robot,then get the stiffness formula. From the formula we can see that the manipulator’s stiffness is relate to the stiffness of each branch,the position and attitude,even the tension force of tension wire. Make experiment after joint spring which has lower stiffness at each brands,the result of this experiment verify the conclusions of analysis of stiffness.

国家自然科学基金资助项目(50275143)