基于刚度矩阵法的并联机构静刚度特性分析

Analysis of static stiffness characteristics of parallel mechanisms based on stiffness matrix method

刚度是并联机构的重要的特性之一,以3-TPT并联机构为研究对象,依托刚度矩阵法对其静刚度分析求解。利用虚功原理对其进行静力学分析,通过静力学雅可比矩阵的求解,以应对当并联机构受力平衡时,机构动力与负载的联系。同时运用刚度矩阵法构建了该机构的静刚度模型,并求解了机构的支链和整体的刚度,通过研究发现支链中对其的刚度影响最大是主动部分;并且当末端所受外力确定时,其末端的受力变形随着受力点x、y、z坐标的增大而减小。这为并联机构在生产实践中提供了设计理论基础。

Stiffness is one of the important characteristics of the parallel mechanism.Taking the 3-TPT parallel mechanism as the research object,the static stiffness is solved by the stiffness matrix method.The static analysis is carried out using the principle of virtual work,and the statics Jacobian matrix is solved to deal with the connection between the power and the load of the parallel mechanism when the force is balanced.At the same time,the stiffness matrix method is used to construct the static stiffness model of the mechanism,and the stiffness of the branch chain and the whole of the mechanism is solved.Through research,it is found that the active part has the greatest influence on the stiffness of the branch chain;and when the external force on the end is determined,the force deformation of its end decreases with the increase of the x,y,z coordinates of the force point.This pair of parallel mechanisms provides a theoretical basis for design in production practice.