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特殊复合球铰3-RPS并联机构及其连续刚度模型

崔学良 韩先国 陈五一

崔学良, 韩先国, 陈五一等 . 特殊复合球铰3-RPS并联机构及其连续刚度模型[J]. 北京航空航天大学学报, 2010, 36(11): 1275-1280.
引用本文: 崔学良, 韩先国, 陈五一等 . 特殊复合球铰3-RPS并联机构及其连续刚度模型[J]. 北京航空航天大学学报, 2010, 36(11): 1275-1280.
Cui Xueliang, Han Xianguo, Chen Wuyiet al. Continuous stiffness modeling of 3-RPS parallel kinematic machine with special composite spherical joints[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(11): 1275-1280. (in Chinese)
Citation: Cui Xueliang, Han Xianguo, Chen Wuyiet al. Continuous stiffness modeling of 3-RPS parallel kinematic machine with special composite spherical joints[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(11): 1275-1280. (in Chinese)

特殊复合球铰3-RPS并联机构及其连续刚度模型

基金项目: 航空科学基金资助项目(20081651025); 北京市重点实验室资助项目
详细信息
    作者简介:

    崔学良(1971-),男,山西长治人,博士生,cuixueliangsj@163.com.

    通讯作者:

    崔学良

  • 中图分类号: TP242

Continuous stiffness modeling of 3-RPS parallel kinematic machine with special composite spherical joints

More Information
    Corresponding author: Cui Xueliang
  • 摘要: 采用矢量微分法研究了在大载荷作用下,兼顾支链和铰链刚度以及雅克比矩阵变化等影响因素的3-RPS并联机构完整连续刚度模型.基于螺旋理论分析了3-RPS并联机构支链及铰链构件所受作用力与机构外载荷之间的力平衡关系.采用矢量微分法分析了3-RPS并联机构动平台位姿变化与支链及铰链构件变形之间的关系.采用矢量微分法对机构的力学平衡方程进行微分,建立了完整的连续刚度模型,最后进行了数值模拟分析,结果表明并联机构刚度受载荷和位姿变化影响,简化刚度模型与完整刚度模型在工作空间边界处差值较大.

     

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出版历程
  • 收稿日期:  2010-01-28
  • 网络出版日期:  2010-11-30

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