一种三自由度并联机构刚度分析及仿真  

Stiffness analysis and simulation of a 3-DOF parallel manipulators

作　　者：刘玲玲[1] 赵新华[1] 李彬[1] 

机构地区：[1]天津理工大学机械工程学院,天津300384

出　　处：《天津理工大学学报》2011年第4期37-40,共4页Journal of Tianjin University of Technology

基　　金：天津市自然科学基金(10JCZDJC22900)

摘　　要：以一种三自由度并联机构2-TPR&SPR为研究对象,对其刚度进行分析.首先利用螺旋理论的方法得到该并联机构的全Jacobian矩阵,在此基础上,考察机构外力、外力矩对支链驱动力及约束力的映射关系.随后利用力与位移的对偶关系,推导出机构的刚度矩阵,最后通过一组数值仿真实例,验证刚度分析的正确性.The stiffness of a 3-DOF parallel manipulators named 2-TPRSPR was analysed in this paper.Firstly,the screws theory was adopted to get Jacobian matrix.Secondly,the mapping relationship was investigated,which refers to the external force and external force moment applied on the actuation force and constraint forces of the limb chain.Thirdly,according to the paired relationship between force and displacement,the stiffness matrix was derived.Finally,the exactness of stiffness analysis was verified by a group of numerical emulation examples.

关 键 词：并联机构 雅克比矩阵 螺旋理论 刚度 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]