RCC装置数学模型建立方法的研究──广义坐标矩阵法

Research on the Method of Establishing Universal Mathematic Model of RCC Device──Matrix Method in Generalized Coordinates

从RCC（RemoteCenterofComplianceDevice）装置的弹性剪切柱的线性刚度矩阵着手，在广义坐标系中用矩阵方法建立了RCC装置的普遍的数学模型，并以三柱和六柱构型RCC装置的实际模型说明与分析了其物理含义和性能特征。

By use of the linear stiffness matrix of elastomer shear pad and the matrix method in generalized coordinates, an universal mathematic model for RCC (Remote Center of Compliance) device is established.Its physical implication and chrateristies are described and analysed with the practical RCC models with three and six pads.