| This paper comprehensively considers the advantages of parallel mechanisms and flexible hinges,takes the 3-PSS delta mechanism as the prototype,replaces the spherical hinges in the mechanism with flexible spherical hinges,and designs a new 3-PSS threedimensional translational flexible parallel micromanipulation robot.The overall structure of the robot is composed of a frame(static platform),a moving platform,and three branch chains distributed symmetrically at 120°.The input end uses three piezoelectric ceramics as drivers,and the output end(moving platform)can achieve x,y,z three Axis translation movement.The specific research process is as follows:(1)Kinematics analysis of 3-PSS three-dimensional translational flexible parallel micro-manipulation robot.First,the kinematics equation of the mechanism is established by the coordinate transformation method,and the calculation formula of the kinematics forward and inverse solution of the mechanism is derived according to the kinematics equation,and then the correctness of the kinematics model of the mechanism is verified through the analysis of three sets of numerical examples.(2)The working space of the 3-PSS three-dimensional translational flexible parallel micro-manipulation robot is analyzed.First,for a given set of structural parameters,based on the established kinematics model,the boundary search method is used to obtain the working space of the mechanism,and the working space of the mechanism is simulated in MATLAB software.Then it analyzes the influence of the change of the maximum displacement of the piezoelectric ceramics,the length of the connecting rod and the limit angle of the flexible spherical hinge on the working space of the mechanism,and the conclusions drawn provide a theoretical basis for the structural optimization design of the mechanism.(3)The statics analysis of the 3-PSS three-dimensional translational flexible parallel micromanipulation robot is carried out.First,the flexibility matrix of a single branch of the mechanism is established by the flexibility matrix method,and then the overall flexibility model of the mechanism is established according to the flexible module modeling method of the parallel mechanism.Finally,an example calculation is carried out based on the given structural parameters,and the influence of the change of the structural parameters such as the minimum thickness of the flexible spherical hinge,the length of the connecting rod and the radius of the upper and lower platforms on the flexibility of the mechanism is analyzed.(4)The finite element analysis is carried out on the 3-PSS three-dimensional translational flexible parallel micromanipulation robot.Use ANSYS Workbench software to perform static analysis and modal analysis on the mechanism.The former verifies the correctness of the theoretical calculation results of the mechanism flexibility model,and the latter obtains the first six-order modal frequencies and modes of the mechanism,as well as the modal analysis results.It shows that the robot has good stability and antiinterference ability. |
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