Stiffness Analysis And Dynamic Simulation On Parallel Manipulator With Flexure Hinges

With the advantages of high accuracy, high rigidity, small inertia, superior carrying capacity and easy to control, parallel robots are widely used. The use of flexible hinges for precise operation is a major feature of parallel robots. Because of the existence of flexible joint the traditional rigid body methods are no longer adapt to such a robot. New research methods appear constantly.Based on the theory of material mechanics, this thesis studies a new type of plane compound flexure hinge and space compound flexure hinge. The computational method of the plane compound flexure hinge's rotational stiffness is given. The deduction process of space compound flexure hinge's rotational stiffness and torsional stiffness is also listed. This research lays a good foundation for the study and the application of compound flexure hinge.According to the calculation of every flexure hinge's stiffness and the analysis of the whole parallel mechanism, based on the the principle of elastic energy, this thesis derives the generalized stiffness matrix of the parallel robot mechanism.At the last part of this thesis, the flexible multi-body dynamic model of the parallel robots with flexure hinges is build by using UG, ANSYS and ADAMS software. The simulations of kinematics and dynamics of parallel robots are studied by ADAMS software. This method of simulation research presents a effective method for flexible multi-body dynamic simulation research of parallel robots.