3-RSS/S并联机构的静力学分析与实验研究  

Statics analysis and examination research of 3-RSS/S parallel mechanism

作　　者：路光达[1] 张爱梅[2] 周静[3] 崔世刚[1] 赵丽[1] 

机构地区：[1]天津职业技术师范大学天津市信息传感与智能控制重点实验室,天津300222 [2]天津阿尔斯通水电设备有限公司,天津300000 [3]河北工业大学机械工程学院,天津300130

出　　处：《机械设计》2013年第3期26-31,共6页Journal of Machine Design

基　　金：天津职业技术师范大学科研启动基金资助项目(KYAD12002);天津职业技术师范大学博士后科研启动基金资助项目(BSHKY12001);天津市应用基础与前沿技术研究计划资助项目(12JCYBJC12900)

摘　　要：并联机构一般通过构件矢量法进行静力学分析,文中通过该方法分别在3-RSS/S并联机构的动平台、曲柄建立静力学平衡方程,从而得到动平台所受外力矩和3个曲柄所需输出力矩之间的数学关系,得出力雅可比矩阵,作为该机构力反馈控制的数学模型。通过力反馈控制实验,验证了并联机构的静力学分析模型可以作为低速条件下力控制的理论基础。The statics analysis of parallel mechanism is generally carried out with component vector method,the static equilibrium equations were established on the moving platform and crank of 3-RSS/S parallel mechanism respectively by this method.Mathematical relationships between the suffered external torque of platform and the output torque required by three cranks are obtained,and the force Jacobian matrix was also be obtained,which is used as the mathematical model of the force feedback control of the mechanism.The force feedback control experiments verify that the statics analysis model of parallel mechanism can be used as the theoretical basis of the force control under low-speed conditions.

关 键 词：并联机构 构件矢量法 雅可比矩阵 力反馈 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]