Journal of South China University of Technology (Natural Science Edition) ›› 2015, Vol. 43 ›› Issue (10): 108-115.doi: 10.3969/j.issn.1000-565X.2015.10.016

• Mechanical Engineering • Previous Articles     Next Articles

Static/Dynamic Analysis and Optimal Design of a High-Speed Parallel Manipulator

Zang Jia-wei1  Mei Jiang-ping1  Liu Song-tao2  Song Tao2   

  1. 1． Tianjin University，School of Mechanical Engineering，Tianjin 300072，China; 2． Technical Department，
    Chenxing (Tianjin) Automation Equipment Co． ，Ltd． ，Tianjin 301701，China
  • Received:2015-03-26 Revised:2015-07-06 Online:2015-10-25 Published:2015-09-06
  • Contact: 臧家炜(1988-)，男，博士生，主要从事工业机器人及其自动化系统研究． E-mail:jjangzjw@126.com
  • About author:臧家炜(1988-)，男，博士生，主要从事工业机器人及其自动化系统研究．
  • Supported by:
    Supported by Tianjin Talent Introduction and Scientific Cooperation Project(13RCHZGX01118) and Tianjin
    Small and Mid-sized Enterprise Technology Fund(14C26211200362)

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Abstract: By combining the finite element analysis with the kinematical theory，a modeling strategy of the global
parametric finite element model and an optimal design of structural parameters are proposed for a 4-DOF high-speed parallel manipulator which can realize SCARA (Selective Compliance Assembly Robot Arm) motion． First，based on the inverse kinematic analysis of the Cross-IV manipulator，the finite element model of the manipulator under different conditions of configurations，dimensions and structures can be rapidly constructed by means of the Ansys programming language APDL． Next，by using the parametric finite element model，a circular modeling strategy is presented to evaluate both the global static stiffness and the low-order natural frequency distribution of the whole machine，and the configuration of the worst performance is obtained． Finally，a novel performance index is defined to estimate the dynamic characteristics of the manipulator，and the effect of structural parameters on the dynamic performance of the system is deeply analyzed through the orthogonal experiments of a set of scale parameters．Thus，a set of optimal structural parameters are obtained．

Key words: parallel manipulator, parametric modeling, finite element analysis, global static and dynamic characteristics, structural parameter optimization

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