| 柔索牵引并联机构的静刚度分析 |
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| 引用本文： | 李辉,朱文白.柔索牵引并联机构的静刚度分析[J].机械工程学报,2010,46(3). |
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| 作者姓名： | 李辉 朱文白 |
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| 作者单位： | 中国科学院国家天文台,北京,100012 |
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| 基金项目： | 国家自然科学基金(10433020);;中国科学院国家天文台青年人才基金资助项目 |
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| 摘 要： | 对柔索牵引并联机构的静刚度进行分析,推导静刚度的一般理论计算公式。结果表明,柔索牵引并联机构的静刚度矩阵可分解为两项:k1是动平台位姿变化产生的静刚度,与索张力相关;k2是索的位形变化产生的静刚度。柔索牵引的完全约束定位机构(Completely restrained positioning mechanism,CRPM)或过约束定位机构(Redundantly restrained positioning mechanism,RRPM),其静刚度主要取决于k2,仅与索的弹性性能和索力作用的雅可比矩阵相关,而与索张力的大小无关。对于柔索牵引的欠约束定位机构(Incompletely restrained positioning mechanism,IRPM),由于柔索悬链线的影响,其静刚度不仅与索的弹性性能和雅可比矩阵相关,而且与索张力的大小有关。通过一平面3自由度RRPM的算例和代表IRPM的500m口径球面射电望远镜馈源悬索支撑系统的静刚度比较分析,证明了关于静刚度理论计算模型的有效性。
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| 关 键 词： | 柔索牵引并联机构 静刚度 500m口径球面射电望远镜 |
Static Stiffness Analysis of Flexible-cable-driven Parallel Mechanism |
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| LI Hui,ZHU Wenbai.Static Stiffness Analysis of Flexible-cable-driven Parallel Mechanism[J].Chinese Journal of Mechanical Engineering,2010,46(3). |
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| Authors: | LI Hui ZHU Wenbai |
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| Affiliation: | National Astronomical Observatories/a>;Chinese Academy of Sciences/a>;Beijing 100012 |
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| Abstract: | The static stiffness of flexible-cable-driven parallel mechanism is studied and its theoretical formulation of the calculation model is deduced. The results show that the static stiffness matrix of flexible-cable-driven parallel mechanism can be decomposed into two parts. k1 results from the changes of position and orientation of the movable platform which correlates with cable tensions, while k2 is caused by the deformation and deflection of cables. The study further proves that the static stiffness of com... |
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| Keywords: | Flexible-cable-driven parallel mechanism Static stiffness Five-hundred-meter aperture spherical telescope |
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