| 平面并联机构刚度与动力学指标分析 |
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| 引用本文： | 敖银辉,陈新,温兆麟.平面并联机构刚度与动力学指标分析[J].中国机械工程,2004,15(18):1607-1609,1646. |
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| 作者姓名： | 敖银辉 陈新 温兆麟 |
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| 作者单位： | 广东工业大学机电工程学院,广州,510090 |
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| 摘 要： | 针对典型的串联和并联机构，建立了动力学模型。分析了在外力输入时机构的静刚度和动刚度。提出使用冗余驱动方式提高刚度及其一致性。根据运动刚度分析方法，建立了主动力输入时的刚度矩阵。定义了反映加速度性能的动力学指标，用于评价和优化机构的设计。给出了几种典型机构的动力学指标的分布图形，说明冗余并联机构的动力学指标最好。
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| 关 键 词： | 平面并联机构 动刚度 冗余驱动 动力学模型 串联 刚度矩阵 静刚度 输入 图形 指标分析 |
| 文章编号： | 1004-132X(2004)18-1607-03 |
Stiffness and Dynamics Analysis for Planar Serial-Parallel Mechanism |
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| Ao Yinhui Chen Xin Wen Zhaolin Guangdong University of Science and Technology,Guangzhou.Stiffness and Dynamics Analysis for Planar Serial-Parallel Mechanism[J].China Mechanical Engineering,2004,15(18):1607-1609,1646. |
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| Authors: | Ao Yinhui Chen Xin Wen Zhaolin Guangdong University of Science and Technology Guangzhou |
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| Affiliation: | Ao Yinhui Chen Xin Wen Zhaolin Guangdong University of Science and Technology,Guangzhou,510090 |
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| Abstract: | Dynamics model of typical serial and parallel mechanisms were presented, which could be used to analyzed the static and dynamic stiffness. It was proposed that redundant drive could be adopted to improve the stiffness and consistence in all work space. The stiffness matrix was induced and dynamics index was defined to evaluate mechanism, the redundant parallel mechanism is proved to have the best dynamic performances. |
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| Keywords: | static stiffness dynamic stiffness singular point dynamics index |
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