摘要
为了表明在考虑外力影响下机构雅克比矩阵微分变化对整体机构刚度的影响,这里对4UPS-PU空间并联机构的刚度特性进行了分析,文中主要分析了基于守恒协调转换的4UPS-PU并联机构的刚度分布,并与传统刚度分布进行了比较。首先对4UPS-PU机构的雅克比矩阵进行求解;其次分析基于守恒协调转换的4UPS-PU机构在各个方向上的刚度分布,并分析了传统刚度模型在各个方向上的刚度分布;通过比较传统刚度模型在每个方向上的刚度分布与基于守恒协调转换刚度分布的差别,得知基于守恒协调转换的4UPS-PU机构在各个方向上的刚度分布值比传统情况下的刚度分布值大,表明不能忽略外力对机构的影响。
In order to show the effect on stiffness of parallel manipulators due to derivation changes of Jacobian matrix of parallel manipulator cause by external forces, here the stiffness performance of the spatial 4UPS-PU parallel manipulators is investigated. This paper focuses on the stiffness analysis of the 4UPS-PU parallel mechanism based on CCT method and compared with the traditional stiffness model. First the Jacobian matrix of 4UPS-PU manipulator is de- termined. Then the distribution of CCT stiffness of 4UPS-PU parallel mechanism in every direction and the distribution of tradition stiffness model in every direction are analyzed. Finally, the stiffness mappings considering the geometric changes in the manipulator due to the effect of external forces and the conventional stiffness mappings are compared. Through comparison one can see that the external force effect on the stiffness of the manipulator cannot be neglected.
出处
《机械设计与研究》
CSCD
北大核心
2012年第6期33-36,共4页
Machine Design And Research
基金
国家自然科学基金资助项目(51075118)
关键词
并联机构
传统刚度
守恒协调转换
parallel manipulator
tradition stiffness model
CCT
