全文下载：2013030290
张秀礼
（燕山大学 机械工程学院，河北 秦皇岛 066004）
摘要： 研究约束力/矩对一种3UPS+RRPR少自由度并联机构的总刚度与弹性变形的影响。以主动约束力/矩为基础求解3UPS+RRPR少自由度并联机器人机构的刚度与弹性变形。首先分析该并联机构受力位置并确定主动约束力/矩的姿态。然后，分析该并联机构的主动约束分支的弹性变形，并解出主动约束分支的伴随矩阵。基于6×6的雅可比矩阵和主动约束分支的伴随矩阵，导出该并联机构的总刚度矩阵和弹性变形。最后得出结论：约束力/矩对该并联机构的弹性变形产生巨大的影响，当建立总刚度矩阵和弹性变形时，必须考虑约束力/矩。
关键词: 并联机构； 约束； 伴随矩阵； 刚度矩阵； 弹性变形
中图分类号： TH 112.1文献标志码： A
Effect of Constrained Force/Torque on Stiffness and Elastic Deformation of a Limited-Degree-of-Freedom Parallel Manipulators
ZHANG Xiu-li
(CollegeofMechanical Engineering,YanshanUniversity,Qinhuangdao066004,China)
Abstract: The effect of constrained force/torque on total stiffness matrices and elastic deformations of 3UPS+RRPR limited-degree-of-freedom parallel manipulators was researched. Stiffness and their elastic deformations are based on constrained Force/torque. Firstly the force situations of the PMs are analyzed and the poses of the active/constrained Force/torque are determined. Then, the elastic deformations of the active/constrained legs in the PMs are analyzed and the compliance matrices of the active/constrained legs are derived. Based on the 6×6 Jacobian matrices and the compliance matrices of active/constrained legs, the total stiffness matrices and elastic deformations of the PMs are derived. The results show that active/constrained Force/torque have a huge impact to elastic deformation, and when establishing the total stiffness matrix and elastic deformation,constrained Force/torque must be considered.
Key words: parallel manipulator; constrained; compliance matrix; stiffness matrix; elastic deformation
收稿日期：2012-11-07
基金项目： 国家自然科学基金资助项目（51175447）；河北省应用基础研究计划重点基础研究项目（11962127D）.
作者简介： 张秀礼(1978—)，男，讲师.
