摘要
以空间4SPS-PS并联机构为研究对象,对4SPS-PS并联机构进行了位姿、自由度、运动学分析,并求出雅克比矩阵,建立刚度矩阵数学模型。运用Matlab数值分析软件编程来分析各个工况下角度变化对刚度所产生的影响程度,得到4SPS-PS并联机构的刚度性能好,同时对该机构的灵巧度进行了仿真。为该机构的进一步研究提供了一定的参考价值。
This paper chooses space 4SPS-PS parallel mechanism as the research object, exploring the in- stitution pose, degrees of freedom, kinematics of this parallel mechanism and obtaining Jacobian matrix, and furthermore stiffness matrix of the mathematical model. In addition, the effect of the size change and posture parameters on the stiffness of the structure is analyzed by means of parallel institutions in Matlab numerical analysis software programm. Get the stiffness performance the 4SPS-PS parallel mechanism. Meanwhile, the institution dexterity has been simulated, aiming to provide a further reference for the study of the institution.
出处
《组合机床与自动化加工技术》
北大核心
2013年第11期23-25,共3页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金资助项目(51075118)
