摘要
以经典的3-RPS和其变异机构3-SPR并联机构为例,建立考虑约束反力两种机构的6×6形式的雅可比矩阵,并建立刚度模型。利用实体建模软件SolidWorks建立两种并联机构的实体模型,并利用商用有限元软件Workbench对其进行有限元分析,对比了两种并联机构的变形情况。结果表明3-SPR并联机构的刚度性能优于3-RPS并联机构的刚度性能,两种并联机构的Z方向刚度均比X、Y两个方向的刚度大。
Taking classic 3 -RPS and its variation institutions 3 -SPR parallel mechanism as an example, this paper establish two institutions forms of jacobian matrix with 6 × 6 form considering con- straining anti - forces, and establish the stiffness model. The entity model of two parallel mechanism were established by using SolidWorks software, and the finite element analysis were carried out by using Workbench software, this paper analyzes the deformation situation of two parallel mechanism. The results show that the stiffness of 3 - SPR was better than 3 - RPS parallel mechanism and the stiffness of Z - direction has the better performance than the other two directions.
出处
《河北工程大学学报（自然科学版）》
CAS
2013年第1期87-90,共4页
Journal of Hebei University of Engineering:Natural Science Edition
基金
国家自然科学基金资助项目(51075118)
关键词
并联机构
雅可比矩阵
刚度模型
有限元分析
parallel mechanism
jacobian matrix
stiffness model
finite element analysis
