| 3-RRR平面并联机构刚度分析 |
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| 引用本文： | 魏轩,吴军. 3-RRR平面并联机构刚度分析[J]. 机械设计与制造, 2009, 0(9) |
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| 作者姓名： | 魏轩 吴军 |
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| 作者单位： | 1. 天津普达软件技术有限公司,天津,300457
2. 清华大学,北京,100084 |
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| 摘 要： | 刚度是并联机构重要性能指标,为了评价并联机构刚度,提出了一种刚度评价方法.基于3-RRR机构的逆运动学模型,推导出其雅可比矩阵.在力雅可比矩阵的基础上,给出了刚度评价指标,该指标不仅适用于3-RRR并联机构,而且可以应用于其它并联机构.将提出的刚度指标应用于3-RRR并联机构,数值仿真结果表明3-RRR机构在工作空间中具有对称的刚性.
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| 关 键 词： | 并联机构 逆运动学 雅可比矩阵 刚度 |
Stiffness of planar 3-RRR parallel mechanisms |
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| WEI Xuan,WU Jun. Stiffness of planar 3-RRR parallel mechanisms[J]. Machinery Design & Manufacture, 2009, 0(9) |
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| Authors: | WEI Xuan WU Jun |
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| Affiliation: | 1Tianjin Puda Software Technology Co.;Ltd;Tianjin 300457;China;2Tsinghua University;Beijing 100084;China |
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| Abstract: | Stiffness is an important performance for parallel mechanisms. In order to evaluate the stiffness,an evaluating index is proposed. Based on the kinematic model of a 3-RRR parallel mechanism, the Jacobian matrix is derived. The stiffness evaluating index is given based on the force Jacobian matrix. The index is not only suitable for 3-RRR mechanism,but also can be used for other parallel mechanisms. The stiffness simulation of the 3-RRR mechanism shows that the stiffness distribution of a 3-RRR parallel mech... |
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| Keywords: | Parallel mechanism Inverse kinematics Jacobian matrix Stiffness |
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