耦合型4UPS/UPR并联机构刚度特性分析  

Stiffness Characteristics Analyses of a Coupling 4UPS/UPR Parallel Mechanism

作　　者：耿明超 边辉[2] 倪笑宇 王嫣嫣 王唱[2] GENG Ming-chao;BIAN Hui;NI Xiao-yu;WANG Yan-yan;WANG Chang(School of Mechanical Engineering,Hebei University of Architecture,Zhangjiakou 075000,China;Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System,Yanshan University,Qinhuangdao 066004,China)

机构地区：[1]河北建筑工程学院机械工程学院,张家口075000 [2]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004

出　　处：《科学技术与工程》2018年第10期76-82,共7页Science Technology and Engineering

基　　金：河北省高等学校青年拔尖人才计划(BJ2016017);国家自然科学基金(51305380);河北省自然科学基金(E2015203144;E2018404044);河北建筑工程学院校基金(B-201603)资助

摘　　要：针对耦合型4UPS/UPR少自由度并联机构,分析了其自由度及耦合运动特性,给出了其旋量形式的一、二阶影响系数。借助于虚功原理及旋量形式的一、二阶影响系数,推导了4UPS/UPR并联机构,包括外力、重力及非广义关节驱动力的静力学方程。通过对静力学方程微分,建立了机构完整的柔度模型;并以此为基础推导了其方向刚度模型,给出了方向刚度极值存在的必要条件。分析了机构位姿、铰链点尺度参数及坐标系选择对方向刚度特性的影响;并给出了相应的数值算例进行验证。For the coupling 4UPS/UPR limited degree-of-freedom parallel mechanism,its degree-of-freedom and the coupling motion characteristics are analyzed,and the first and second order influence coefficient of screw form are given.Referring to the principle of virtual work and the first and second order influence coefficient of screw form,the statics equation of 4UPS/UPR mechanism including external force,gravity and non-generalized joint drive is derived.Through the differential of the statics equation,a complete flexibility model is given.On this basis,the direction stiffness model is deduced,and the necessary existence condition of the extreme direction stiffness is given.The influence of pose,hinges parameter and coordinate selection on the direction stiffness characteristics of the mechanism is analyzed,and the corresponding numerical examples is given to demonstrate the above theory.

关 键 词：并联机构 刚度 旋量 静力学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH112.1[自动化与计算机技术—控制科学与工程]