Tripod并联定位器刚度分析及其在飞机装配中的应用  

Stiffness analysis of Tripod parallel positioner and applications in aircraft assembly

作　　者：洪超[1] 吴洪涛[1] 

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《应用科技》2011年第6期58-61,共4页Applied Science and Technology

基　　金：航空科学基金资助项目(H0608-012)

摘　　要：改进了传统的3-UPU并联机构,得到了刚度更高、结构更加紧凑的3-Tripod和4-Tripod并联机构.求出了3-Tripod并联机构的工作空间和Jacobian矩阵,并由此分析了3-Tripod机构的刚度特性,得到了3-Tripod机构的刚度矩阵,画出了工作平面内的最大刚度和最小刚度分布图以及工作空间内取得最大刚度与最小刚度的方向.结果表明,在工作平面内垂直于基座的方向刚度较大,平行于基座的方向刚度较小.研究结果对提高机身与机翼对接工装精度有一定意义.To improve traditional 3-UPU parallel mechanism（PM）,a 3-Tripod and 4-Tripod parallel mechanism is obtained,which has more compact structure and higher stiffness.Based on stiffness matrix represented by Jacobian matrix of the 3-Tripod,the maximum,minimum stiffness mapping and corresponding eigenvector direction mapping at each point within the workspace of the 3-Tripod are got.It is demonstrated that the PM gets a higher stiffness in the vertical direction and a lower stiffness in the horizontal direction in the workplane.The study of the Tripod PM is useful for improving the precision of aircraft assembly.

关 键 词：3-Tripod 并联机构 工作空间 刚度矩阵 飞机装配 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]