冗余驱动4-PRP+3-UPS&PU混联机床静刚度分析  

Stiffness Analysis of 4-PRP+3-UPS&PU Hybrid Machine Tool with Redundant Actuation

作　　者：刘娜[1] 梅瑛[1] 陈菁瑶[1] 刘兴芳[1] Liu Na Mei Ying Chen Jingyao Liu Xingfang(School of Mechanical and Power Engineering, North University of China, Taiyuan 030051, China)

机构地区：[1]中北大学机械与动力工程学院,山西太原030051

出　　处：《机械传动》2017年第9期30-35,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51275486)

摘　　要：提出一种6自由度4-PRP+3-UPS&PU冗余驱动混联机床,并对该机床进行静力学及静刚度方面的研究。首先,基于力雅可比矩阵对该机床进行静力学分析,列出静力平衡方程,求解出外力负载与驱动力和支链约束力之间的映射矩阵;其次,分析各驱动分支和约束分支提供的约束力螺旋,计算出各分支在约束力螺旋作用下产生的弹性变形;最后,建立机构刚度模型,对各分支的弹性变形进行叠加,求解出机构的整体柔度矩阵和刚度矩阵。结合数值算例,应用MATLAB进行编程计算得到各驱动分支及动平台的弹性变形随驱动位移的变化曲线。A six degree of freedom 4 - PRP ＋ 3 - UPS＆PU redundant hybrid machine tool is proposed, and the statics and static stiffness of the machine tool is studied. Firstly, based on the force Jacobi matrix, the static equilibrium equation is presented, and the mapping matrix between the external load and the driving force and the binding force of the branch is solved. Secondly, the binding screw provided by each drive branch and constraint branch is analyzed, the elastic deformation of each rod under the action of the constraint screw is cal- culated. Finally, the stiffness model of the mechanism is established, and the elastic deformation of each branch is superposed, and then the overall flexibility and stiffness matrix of the mechanism are obtained. Com- bined with numerical examples, the MATLAB software is used to calculate the curves of the elastic deformation of each driving and moving platform with the length of the drive rod.

关 键 词：冗余驱动 混联机床 约束力螺旋 刚度分析 

分 类 号：TG502[金属学及工艺—金属切削加工及机床]