转动型3-UPU并联机构的刚度分析  

Stiffness analysis of spherical 3-UPU parallel mechanism

作　　者：郑相周[1] 罗友高[2] 宾洪赞[2] 

机构地区：[1]华中农业大学工程技术学院,武汉430070 [2]华中科技大学机械科学与工程学院,武汉430070

出　　处：《机械设计与制造》2007年第7期52-54,共3页Machinery Design & Manufacture

摘　　要：根据由并联机构的Jacobian矩阵表达的刚度矩阵,本文分析了转动型3-UPU并联机构刚度矩阵的特点和刚度矩阵主轴的变化规律。结果表明,最大刚度方向占据了相对稳定和集中的部分,并且当动平台平面和静平台平面接近平行时,并联机构的刚度较高。转动型3-UPU并联机构刚度矩阵分析对并联机构的设计具有一定的指导作用。Based on stiffness matrix represented by Jacobian matrix of PM, characteristics of stiff ness matrix of rotational 3-UPU and its main stiffness axis are analyzed. It is demonstrated that the direction of maximum stiffness is concentrated respectively and the stiffness of PM is higher when the plane of fixed base is parallel to plane of platform approximately. The stiffness matrix analysis of 3-UPU PM is a help for the design of PM.

关 键 词：转动型3-UPU并联机构 刚度矩阵 大洋采矿 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]