并联机床静力学及静刚度研究  

Study on parallel machine tool statics and static stiffness

作　　者：胡晓雄[1] 贾育秦[1] 

机构地区：[1]太原科技大学机械工程学院,太原030024

出　　处：《现代制造工程》2014年第1期77-82,共6页Modern Manufacturing Engineering

摘　　要：从机器人学的角度来看,并联机构的静力学和运动学之间存在一定的联系,对于少自由度并联机构,其运动学和静力学之间的关系比较复杂,特别是静刚度计算问题更为复杂。使用矢量法推导了五自由度并联机床速度Jacobian矩阵和力Jacobian矩阵之间的关系,并应用此关系解决了并联机床的静力学问题。在并联机床静力学和运动学研究的基础上,提出了一种新的静刚度计算方法,并对并联机床在一些位姿下的静刚度进行了计算。计算结果表明,该方法可行,为并联机床的设计、机构学特性的研究提供了具有使用价值的指导。From the perspective of robotics, there is some connection between the parallel institutions statics and kinematics of the machine tool, for less DOF（ Degree of Freedom） parallel mechanism is more complex relationship between kinematics and statics, especially static stiffness calculations problem is more too complicated. Uses the vector method to derive the relationship between the 5-DOF parallel machine speed Jacobian matrix and force Jacobian matrix, and the application of the above results to solve the parallel machine tool statics problem. Proposed a new static stiffness by calculation, and parallel machine in some position and orientation under static stiffness calculated on the basis of the parallel machine tool statics and kinematics. The experimental calculations proved that the method is feasible parallel machine tool design, the institutional characteristics of the value in use guidance.

关 键 词：并联机床 静力学 静刚度 雅克比矩阵 

分 类 号：TH122[机械工程—机械设计及理论]