约束力/矩对一种少自由度并联机构刚度及弹性变形的影响

Effect of Constrained Force/Torque on Stiffness and Elastic Deformation of a Limited-Degree-of-Freedom Parallel Manipulators

研究约束力/矩对一种3UPS+RRPR少自由度并联机构的总刚度与弹性变形的影响。以主动约束力/矩为基础求解3UPS+RRPR少自由度并联机器人机构的刚度与弹性变形。首先分析该并联机构受力位置并确定主动约束力/矩的姿态。然后,分析该并联机构的主动约束分支的弹性变形,并解出主动约束分支的伴随矩阵。基于6×6的雅可比矩阵和主动约束分支的伴随矩阵,导出该并联机构的总刚度矩阵和弹性变形。最后得出结论:约束力/矩对该并联机构的弹性变形产生巨大的影响,当建立总刚度矩阵和弹性变形时,必须考虑约束力/矩。

The effect of constrained force/torque on total stiffness matrices and elastic deformations of 3UPS＋RRPR limited-degree-of-freedom parallel manipulators was researched.Stiffness and their elastic deformations are based on constrained Force/torque.Firstly the force situations of the PMs are analyzed and the poses of the active/constrained Force/torque are determined.Then,the elastic deformations of the active/constrained legs in the PMs are analyzed and the compliance matrices of the active/constrained legs are derived.Based on the 6×6 Jacobian matrices and the compliance matrices of active/constrained legs,the total stiffness matrices and elastic deformations of the PMs are derived.The results show that active/constrained Force/torque have a huge impact to elastic deformation,and when establishing the total stiffness matrix and elastic deformation,constrained Force/torque must be considered.