移动型3—UPU并联机构的刚度分析  

Stiffness Analysis of Translational 3-UPU Parallel Mechanisms

作　　者：罗友高[1] 郑相周[2] 宾鸿赞[1] 

机构地区：[1]华中科技大学,武汉430074 [2]华中农业大学,武汉430070

出　　处：《中国机械工程》2006年第S2期103-106,共4页China Mechanical Engineering

摘　　要：分析了移动型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,并联机构几何参数的变化只对工作空间的大小和形状有影响,而对刚度矩阵的特征向量大小及方向几乎没有影响,最小刚度方向分布在垂直于静平台平面的锥体内。移动型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 parallel mechanism(PM), characteristics of stiffness matrix of a translational 3-UPU and its main stiffness axis were analyzed. It is demonstrated that workspace of PM other than eigenvector of stiffness matrix is influenced by ge- ometry of PM.The directions of minimum stiffness are distributed in a cone which is perpendicular to the plane of the fixed base.The stiffness matrix analysis of 3-UPU PM will be helpful for the design of PM.

关 键 词：移动型3—UPU 并联机构 刚度矩阵 大洋采矿 

分 类 号：TH112[机械工程—机械设计及理论]