移动型3-UPU并联机构静态稳定性分析  

Static stability analysis of translational 3-UPU parallel mechanism

作　　者：崔群凤[1] 

机构地区：[1]武汉职业技术学院电信学院,湖北武汉430074

出　　处：《机械研究与应用》2009年第4期32-35,共4页Mechanical Research & Application

摘　　要：使用最小势能原理,对刚性支撑3-UPU并联机构进行了静态稳定性分析。稳定性分析中,将并联机构的连杆分解为包含油液在内的三部分,通过建立并联机构的Lagrange势能函数,得到反映机构静态稳定性的Hes-sian矩阵,并由此提出了机构不同稳定性状态的比较判据。分析和计算表明,在工作空间中,移动型3-UPU并联机构在由几何构型所确定的工作空间中的静平衡基本上稳定。Applied principle of minimum potential energy, Lagrange potential energy function and Hessian matrices used to analyze static stability of translational 3 - UPU parallel mechanism （ PM ） with rigid links are formulated. In analysis, each link of PM is dissected into three parts in which oil is included. A criterion according to Hessian matrices is put forward and can be used to compare static stability in different balance configuration. As computation shown, stability can be realized in almost all workspace of the translational 3 - UPU PM.

关 键 词：移动型3-UPU并联机构 HESSIAN矩阵 静态稳定性 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]