空间3-UPU/UPU机构的刚度分析

以3-UPU/UPU并联机构为例，进行机构分析及运动学分析，得到机构的雅克比矩阵；在静平衡条件下计算出并联机构的局部刚度矩阵和全局刚度矩阵；利用数学软件MATLAB绘制3-UPU/UPU并联机构的局部刚度曲线以及全局刚度曲线，分析上下平面外接圆半径的变化对局部刚度和全局刚度的影响.结果表明局部刚度矩阵以及全局刚度取决于机构的位姿，对于给定的位姿可求机构局部刚度及全局刚度的变化范围;机构的上下表面半径的变化情况影响着局部刚度和全局刚度,因此可以适当地增大上下表面半径来获得较高的局部刚度以及全局刚度。

The stiffness analysis on space 3-UPU/UPU organization

In the3-UPU/UPU parallel mechanism as an example, analysis the structure and kinematics analysis, get the Jacobian matrix of the mechanism; in static equilibrium calculation under the condition of a parallel mechanism of local stiffness matrix and the global stiffness matrix; the use of mathematical software MATLAB the drawing of 3-UPU/UPU parallel mechanism of local stiffness curve and global stiffness curve, analysis of upper and lower plane circle radius variation on the local stiffness and global stiffness effect. The results show that local stiffness matrix and the global stiffness depends on body posture, for a given position and mechanism of local stiffness and global stiffness variation range; body has upper and lower surface radius variation affects the local stiffness and the global stiffness, can be appropriately increase the upper and lower surfaces of the radius to obtain high rigidity of the local and global stiffness.