论文标题
由双三角形段组成的兼容串行操作机制
Mechanics of compliant serial manipulator composed of dual-triangle segments
论文作者
论文摘要
该论文着重于由新型的双三角弹性段组成的符合串行操作器的机制。分析方法和数值方法均用于查找操纵器稳定和不稳定的平衡构型，并预测相应的操纵器形状。对负载和卸载模式进行了刚度分析，使用虚拟关节方法（VJM）计算刚度矩阵。结果表明，如果操纵器相应的初始构型是直的或非连续的，则可能在加载下发生屈曲或准扣子现象。提出了相关的仿真结果，以确认理论研究。
The paper focuses on the mechanics of a compliant serial manipulator composed of new type of dual-triangle elastic segments. Both the analytical and numerical methods were used to find the manipulator stable and unstable equilibrium configurations, as well as to predict corresponding manipulator shapes. The stiffness analysis was carried on for both loaded and unloaded modes, the stiffness matrices were computed using the Virtual Joint Method (VJM). The results demonstrate that either buckling or quasi-buckling phenomenon may occur under the loading, if the manipulator corresponding initial configuration is straight or non-straight one. Relevant simulation results are presented that confirm the theoretical study.
