| 约束力/矩对一种少自由度并联机构刚度及弹性变形的影响 |
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| 引用本文： | 张秀礼.约束力/矩对一种少自由度并联机构刚度及弹性变形的影响[J].青岛科技大学学报,2013(3):290-294. |
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| 作者姓名： | 张秀礼 |
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| 作者单位： | 燕山大学机械工程学院 |
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| 基金项目： | 国家自然科学基金资助项目(51175447);河北省应用基础研究计划重点基础研究项目(11962127D) |
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| 摘 要： | 研究约束力/矩对一种3UPS+RRPR少自由度并联机构的总刚度与弹性变形的影响。以主动约束力/矩为基础求解3UPS+RRPR少自由度并联机器人机构的刚度与弹性变形。首先分析该并联机构受力位置并确定主动约束力/矩的姿态。然后,分析该并联机构的主动约束分支的弹性变形,并解出主动约束分支的伴随矩阵。基于6×6的雅可比矩阵和主动约束分支的伴随矩阵,导出该并联机构的总刚度矩阵和弹性变形。最后得出结论:约束力/矩对该并联机构的弹性变形产生巨大的影响,当建立总刚度矩阵和弹性变形时,必须考虑约束力/矩。
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| 关 键 词： | 并联机构 约束 伴随矩阵 刚度矩阵 弹性变形 |
Effect of Constrained Force/Torque on Stiffness and Elastic Deformation of a Limited-Degree-of-Freedom Parallel Manipulators |
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| ZHANG Xiu-li.Effect of Constrained Force/Torque on Stiffness and Elastic Deformation of a Limited-Degree-of-Freedom Parallel Manipulators[J].Journal of Qingdao University of Science and Technology:Natutral Science Edition,2013(3):290-294. |
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| Authors: | ZHANG Xiu-li |
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| Affiliation: | ZHANG Xiu-li (College of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China) |
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| Abstract: | The effect of constrained force/torque on total stiffness matrices and elastic deformations of 3UPS+RRPR limited-degree-of-freedom parallel manipulators was researched.Stiffness and their elastic deformations are based on constrained Force/torque.Firstly the force situations of the PMs are analyzed and the poses of the active/constrained Force/torque are determined.Then,the elastic deformations of the active/constrained legs in the PMs are analyzed and the compliance matrices of the active/constrained legs are derived.Based on the 6×6 Jacobian matrices and the compliance matrices of active/constrained legs,the total stiffness matrices and elastic deformations of the PMs are derived.The results show that active/constrained Force/torque have a huge impact to elastic deformation,and when establishing the total stiffness matrix and elastic deformation,constrained Force/torque must be considered. |
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| Keywords: | parallel manipulator constrained compliance matrix stiffness matrix elastic deformation |
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