RPU-SPR-SPU新型三自由度并联机构静刚度分析  

Static stiffness analysis of RPU-SPR-SPU new three-degree-of-freedom parallel mechanism

作　　者：蒲志新[1] 贾加亮 武志龙 PU Zhixin;JIA Jialiang;WU Zhilong(School of Mechanical Engineering,Liaoning Technical University,Fuxin 123000,China)

机构地区：[1]辽宁工程技术大学机械工程学院,辽宁阜新123000

出　　处：《辽宁工程技术大学学报（自然科学版）》2022年第5期431-438,共8页Journal of Liaoning Technical University (Natural Science)

摘　　要：为解决Exechon机器人装配要求高、存在冗余约束而导致制造成本过高的问题,基于Exechon机床的并联部分设计其变异机构RPU-SPR-SPU(R-转动副、P-移动副、U-虎克铰、S-球副).应用螺旋理论计算新机构的自由度,采用矢量法求机构位置反解.考虑到新机构与原机构相比,刚度可能会有所降低,采用虚拟关节法求出机构刚度的数学模型,并且与有限元静力学分析的结果进行对比,验证公式的正确性.根据运动学反解在固定的工作平面上求出刚度分布情况,分析机构位型对刚度的影响.研究结果表明:RPU-SPR-SPU机构具有无冗余约束、装配简单等优点,刚度特性良好.In order to solve the problem that the assembly requirements of Exechon robots are very high and there are redundant constraints,resulting in excessive manufacturing costs,this paper designs the variation mechanism RPU-SPR-SPU based on the parallel part of the Exechon machine tool.The spiral theory is applied to calculate the degrees of freedom of the new mechanism,and the vector method is used to find the mechanism position inversion.Considering that the stiffness of the new mechanism may be reduced compared with the original mechanism,a mathematical model of the stiffness of the mechanism is obtained by the virtual joint method,and the error of the two methods is calculated by comparing and verifying with the results of the finite element static analysis.According to the kinematics inversion solution,the stiffness distribution on the fixed working plane is found,and analyzed,and the influence of the mechanism position on the stiffness is obtained.The research results show that the mechanism has the advantages of no redundancy constraints,simple assembly,low cost,and has good stiffness characteristics.

关 键 词：RPU-SPR-SPU并联机构 变异机构 虚拟关节法 静刚度 有限元 

分 类 号：TG502[金属学及工艺—金属切削加工及机床]