交叉杆Stewart并联机构静刚度分析和设计  

Analysis of Stiffness and Design for Stewart Parallel Mechanism of Cross Rods

作　　者：赵若愚[1] 方喜峰[1] 张胜文[1] 汪通悦[1] 刘远伟[1] 

机构地区：[1]江苏科技大学机械工程学院,江苏镇江212003

出　　处：《机床与液压》2014年第9期25-28,共4页Machine Tool & Hydraulics

基　　金：国家自然基金资助项目(50375071);江苏省重点实验室开放基金资助项目(HGDML-0809;CJ0905);江苏省普通高校研究生创新计划资助项目(CXLX12_0686)

摘　　要：并联机构应用于数控加工设备时要求具有很高的刚度,交叉杆机构将原有Stewart机构的3对驱动杆交错分布,使得其在运动过程中可以平均分配驱动杆的伸长量。为了验证该型机构的刚度性能,采用罗德里格斯参数方法构建了交叉杆并联机构的雅可比矩阵,推导出该型机构的刚度计算公式,分析了其在不同位置时的最小刚度和两个方向的单项刚度,并给出了其在工作空间中的分布规律。通过与传统Stewart构型的对比分析得出交叉杆并联机构的机构特点与设计优势,为这种机构的应用和开发提供了理论依据。The high stiffness is required when the parallel mechanism is used in the machine tool. As three pairs of active rods in the manipulator are crossed,which is different from the original Stewart mechanism,the length of each rod are average distributed. In order to verify the stiffness performance of this parallel mechanism,Lodrigues parameters were used to build the Jacobian,and the ex-pression of stiffness was given. The minimum stiffness and single stiffness in several different direction were described,and the stiff-ness distributions throughout the entire task workplace were given. The characteristics and advantages are shown through the compara-tive analysis,and the results offer the evidence for the design as well as the use of this type of parallel mechanism.

关 键 词：并联机构 静刚度 雅克比矩阵 罗德里格斯参数 

分 类 号：TG502[金属学及工艺—金属切削加工及机床]