(3-RPR+R)&UPS并联机构的静刚度分析  

The Static Stiffness Analysis of a (3-RPR+R)&UPS Parallel Mechanism

作　　者：梅瑛[1] 许文文 MEI Ying;XU Wenwen(School of Mechanical Engineering,North University of China,Taiyuan 030051,China;JMC Heavy Duty Vehicle Co.,Ltd,Taiyuan 030032,China)

机构地区：[1]中北大学机械工程学院,太原030051 [2]江铃重型汽车有限公司,太原030032

出　　处：《机械设计与研究》2021年第3期38-41,共4页Machine Design And Research

基　　金：国家自然科学基金(51275486);山西省自然科学基金(201901D111128)资助项目。

摘　　要：针对提出的新型(3-RPR+R)&UPS并联机构,首先,利用解析矢量法建立了其位置逆解方程;其次,基于螺旋理论对该并联机构约束力螺旋进行了分析,并在分析各约束力螺旋所产生弹性变形的基础上,构建了各驱动支链约束力螺旋系刚度矩阵;随后,又根据机构动平台力平衡条件得到了该机构整体刚度矩阵和柔度矩阵,建立了该并联机构刚度模型;最后,利用MATLAB软件对该并联机构刚度模型进行了数值求解,结果表明该并联机构约束力/力偶螺旋产生的变形相对较大且占主导地位,在机构刚度分析中不可忽视。For the(3-RPR+R)&UPS parallel mechanism,firstly,the equation of position inverse solution is established by using analytical method.Secondly,the constraint wrenches of the parallel mechanism are analyzed based on the screw theory,and based on the analysis of the elastic deformation caused by each constraint wrench,the stiffness matrix of the limb constraint wrenches is constructed.Then,according to the force balance condition of the moving platform,the stiffness matrix and flexibility matrix of the parallel mechanism are obtained,and the stiffness model of the parallel mechanism is established.Finally,the stiffness model of the parallel mechanism is numerically solved by MATLAB software,the results show that the elastic deformations caused by the constraint wrenches are relatively large and dominant,which can not be ignored in the stiffness analysis of the mechanism.

关 键 词：并联机构 螺旋理论 约束力螺旋 刚度 

分 类 号：TH112[机械工程—机械设计及理论]