一种新型5自由度并联机构刚度分析

Stiffness Analysis of a Novel 5-DOF Parallel Manipulator

提出了一种新型含平面分支的少自由度并联机构。建立了该并联机构的虚拟样机模型,并分析了机构的自由度及结构特点。通过对平面闭环分支及约束分支的速度解析,推导了机构的6×6的雅克比矩阵。综合考虑了平面分支中上、下横梁的弹性变形及SPR分支中约束力作用下的弹性变形对并联机构刚度的影响,建立了该机构的整体刚度矩阵。将理论解析解与软件Solidworks Simulation的仿真结果对比,验证了所建刚度模型的正确性,为含平面分支少自由度并联机构的开发和应用提供了理论基础。

A novel Limited-DOF parallel manipulator with plane branch is introduced. The virtual prototype of the PM is established, and its DOF and structure characteristics are analyzed. By analyzing the velocity of the closed loop branch and the constraint branch, the 6 × 6 Jacobian matrix is deduced. The elastic deformation of upper and down beam in planner limbs and the elastic deformation of the SPR caused by the constrained forces/torques are considered in the process of building stiffness matrix. Simulation solutions is given by the software Solidworks Simulation. It is proved from the error analysis of analytic solutions and simulation solutions that the derived analytic formulae are correct and provide the theoretical and technical foundations for its application.