非对称4自由度3SPS+PS并联机构平台的力结构性能分析

非对称4自由度3SPS+PS并联机构中,4条支链在联接动静平台四个角点,以该机构为研究对象,建立了机构模型与运动学模型,并得到运动雅克比矩阵。根据运动雅克比矩阵与力雅克比矩阵的对偶关系,得到机构的力雅克比矩阵。给定动平台的负载及位置,建立受力模型,分析当负载在作用点0°~360°变化时,四个移动副的受力情况。采用MATLAB软件画出其受力图。运动学模型的建立以及分析结果对该平台样机的控制以及强度校核有指导意义。

Analysis of an 4 DOFs 3sps+ps parallel mechanism withAsymmetric layout

The fix platform and the move platform of the parallel mechanism with 3SPS+PS are linked with four chains at the corner of the platform, the mechanism model and kinematics model is established, the force Jacobi matrix is obtained. According to the relation of kinematics Jacobi matrix and force jacobian matrix, the duality of the force jacobian matrix is deduced. The load and the position of the load are given, the mechanical model is established, the analysis is conducted when the load changes at the positon with the changes of 0-360 degrees, and then force of the four prismatic pairs are derived, and using MATLAB software to draw out the performance charts. The results of the analysis are important to the structure design and strength analysis.