3-SPS+SP并联机构的静刚度分析  

Static Stiffness Analysis of Parallel Mechanism 3-SPS+SP

作　　者：李晓丹[1] 王晓磊[1] 陈雪叶[1] 王闯 

机构地区：[1]辽宁工业大学机械工程与自动化学院,辽宁锦州121001 [2]锦州万达矿山机器制造有限公司,辽宁锦州121001

出　　处：《机床与液压》2016年第15期8-10,36,共4页Machine Tool & Hydraulics

基　　金：辽宁省重点实验室资助项目(LKF2011020);国家科技支撑计划项目(2012BAF12B08-5)

摘　　要：少自由度并联机构中存在约束反力,该力会使机构产生变形。以3-SPS+SP并联机构为例,建立了同时含有驱动和约束的全雅可比矩阵。考虑结构模型中约束反力对机构的影响,采用能量等效原理推导了输入驱动力及约束反力与外负载的映射关系,建立了该机构的全刚度模型,得到了机构的动平台线性平移及角度旋转变形量与外负载的关系。定义了该机构的刚度评价指标,分析了主要结构参数与全局刚度评价指标的变化规律,为该机构的结构参数优化奠定了基础。The constraint reaction is existed in a patallel mechanism with fewer degrees of freedom（ DOF）,which leads to its deformation. The whole Jacobian matrix containing drive and constraint was set up by 3-SPS＋SP parallel mechanism. By considering the structure model of constraint reaction influence on the mechanism,the mapping relationship between input driving force and binding reaction and external load was derived. The whole of stiffness model was established,and the relationship between moving platform linear translation and angle rotation deformation with the external load was obtained. The stiffness evaluation indexes were defined. The changing rule between main structural parameters and the global stiffness evaluation index are analyzed,which laid the groundwork for the structural parameters of mechanic optimization.

关 键 词：并联机构 线刚度 角刚度 性能评价指标 

分 类 号：TP112[自动化与计算机技术—控制理论与控制工程]