中文摘要：

采用运动弹性动力学方法,分析了柔性并联机构杆件的弹性变形与弹性位移的关系,计算了杆件的弹性变形,求解了杆件上任意位置的动应力。通过分析动态交变应力造成的疲劳损伤,预测杆件的疲劳寿命,并根据疲劳强度计算杆件的工作安全系数。计算了杆件在各个时刻的最大动应力及出现的位置,并分析其变化规律。以平面柔性3-RRR并联机构为例,说明分析杆件的动应力对机构的强度失效、疲劳失效分析有重要意义。

英文摘要：

Using the Kineto-Elastodynamics theory, the relation between elastic deformations and elastic displacements of the planar flexible parallel mechanism＇ s links was investigated. The elastic deformations of links were caleculated. The dynamic stress on any position of the links was derived, The fatigue failures due to the alternate dynamic stresses were analyzed, The fatigue lives of the links were predicted according to the cumulative damage rule. The performance margin due to the fatigue strength was calculated. The analysis on endurance character was incorporated into the research on dynamic stress of flexible robots. The value, position and law of the variation of links＇ maximal dynamic stress were derived, the purpose of dynamic stress analysis is well illustrated through the numerical simulation of a planar flexible 3-RRR parallel mechanism. The dynamic stress analysis is demonstrated to have significant impact on the strength failure and fatigue failure of flexible mechanisms.