2-RRR+RRS球面并联机构超静定力学全解

Full Hyperstatic Solutions of Spherical Parallel Mechanism 2-RRR+RRS

针对2-RRR+RRS球面并联机构,利用拆杆法建立其4次超静定的静力学平衡方程;考虑构件弹性,利用小变形叠加原理,建立机构的4个变形协调方程。基于所建方程,利用MAPLE软件分析求得在不同输入力和力矩情况下,机构构件所受力与机构位姿关系曲线图,明晰了不同外力或外力矩输入情况下对机构影响的差异。研究结果为该机构的工程设计及实际应用提供了静力学理论基础和依据。

Based on dismantle--bar method, a set of hyperstatic equilibrium equations of the spherical parallel mechanism 2--RRR＋RRS were establised, and the deformation compatibility equations of the mechanism were also set up with the consideration of the elasticity of the mechanism and the superposition principle of small deformation. Then, corresponding different input forces and torques, the relationship curves among the forces acted on the components of the mechanism and the pose of the mechanism were obtained using MAPLE software, and the infulence of the applied external forces or the external torques on the mechansim was clarified. The research contents herein provide the theoretical foundation for the engineering design and practical applications of the 2-RRR＋ RRS spherical parallel mechanism.