摘要
以具体的虎克铰结构为对象,建立并联机构中虎克铰的刚度模型。构造虎克铰的姿态矩阵,分析并联机构运行过程中虎克铰的姿态反解、虎克铰姿态与作用力的关系。建立虎克铰上支座、下支座的刚度矩阵,利用弹性势能等效原理与坐标齐次变换关系,获得虎克铰沿并联机构支链轴向的等效刚度。研究结果为并联机构中虎克铰的刚度建模提供了一定依据。
The stiffness model of Hooke joint in the parallel mechanism was constructed based on a specific Hooke joint. Attitude matrix of the Hooke hinge was constructed, the reverse solution of the posture in operation was analyzed, as well as for the relationship between posture and force. The stiffness matrix of top-pedestal and bottom-pedestal were constructed on the Hooke joint, obtaining the equivalent axial stiffness of the branch chain of the parallel mechanism by the means of elastic potential energy equivalent principle and homogeneous transformation. The research results provide a certain basis for the stiffness modeling of Hooke joint in parallel mechanism.
作者
施俊杰
李开明
甄文臣
杨静
SHI Junjie LI Kaiming ZHEN Wenchen YANG Jing(School of Mechanical Engineering, Nanjing University of Science and Technology,Nanjing Jiangsu 210094, China)
出处
《机床与液压》
北大核心
2017年第11期38-43,79,共7页
Machine Tool & Hydraulics
关键词
并联机构
虎克铰刚度
刚度矩阵
等效刚度
Parallel mechanism
Hooke joint stiffness
Stiffness matrix
Equivalent stiffness
