| 3-PRR平面并联机构的刚度特性 |
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| 引用本文： | 李树军,孟巧玲.3-PRR平面并联机构的刚度特性[J].东北大学学报(自然科学版),2009,30(6):865-868. |
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| 作者姓名： | 李树军 孟巧玲 |
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| 作者单位： | 1. 东北大学,机械工程与自动化学院,辽宁,沈阳,110004;机器人学国家重点实验室,辽宁,沈阳,110016
2. 东北大学,机械工程与自动化学院,辽宁,沈阳,110004 |
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| 基金项目： | 国家自然科学基金，机器人学国家重点实验室开放项目 |
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| 摘 要： | 为了揭示在外力作用下机构的柔性导致的几何形变对其刚度的影响及变化规律,对3-PRR平面并联机构的刚度特性进行了系统研究.首先导出了3-PRR平面并联机构基于守恒协调转换刚度矩阵的刚度解析表达式,然后分别求出了机构在无外力作用和在外力作用下的刚度映射曲线,用以对比其刚度的不同变化规律.最后根据导出的公式和数值分析算例,对机构的刚度特性进行了详细的分析.研究结果表明:3-PRR平面并联机构的刚度是机构构型的函数,并与驱动力和关节刚度成比例;机构的刚度不但与外力的大小有关,而且与外力的作用方向有关.
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| 关 键 词： | 并联机构 几何形变 外力 刚度映射 刚度特性 |
Stiffness Characteristics of 3-PRR Planar Parallel Mechanism Based on CCT Stiffness Matrix |
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| LI Shu-jun,MENG Qiao-ling.Stiffness Characteristics of 3-PRR Planar Parallel Mechanism Based on CCT Stiffness Matrix[J].Journal of Northeastern University(Natural Science),2009,30(6):865-868. |
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| Authors: | LI Shu-jun MENG Qiao-ling |
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| Institution: | LI Shu-jun1,2,MENG Qiao-ling1(1.School of Mechanical Engineering & Automation,Northeastern University,Shenyang 110004,China,2.State Key Laboratory of Robotics,Shenyang 110016,China.) |
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| Abstract: | To reveal the stiffness behavior of a parallel mechanism with considering the effect of the change in geometry due to compliance caused by the external forces,the stiffness characteristics of 3-PRR planar parallel mechanism were studied systemically.The analytical expressions of stiffness of the mechanism were derived on the basis of conservative congruence transformation(CCT) stiffness matrix.Then,the stiffness mapping curves of the 3-PRR mechanism were given to show the change and behavior of the stiffnes... |
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| Keywords: | parallel mechanism geometric change external force stiffness mapping stiffness characteristic |
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