空间三转动并联机构工作空间和刚度分析

摘要

According to the actual requirement of the numercial control ( NC) rotational table for manufacturing , the three degree of freedom (3-DOF) parallel configuration 3-PUS-RU is treated as the research object .The position inverse kinematic equation with the closed vector method and the Jacoiban matrix of the parallel manipulator were established .The workspace and stiffness performance in-dex of the parallel manipulator were introduced , and the distribution map of the workspace and the conservative congruence transforma -tion ( CCT) stiffness of the coordinates of the mechanism were drawn .The results show that the workspace and stiffness performance are still symmetrical distributed due to the symmetry of the parallel manipulator , so the work area should select the location with stiffness as large as possible.The research result done on the workspace and the CCT stiffness performance of the 3-PUS-RU parallel configuration has some guidance function for the design of the parallel manipulator .%针对数控回转台的实际运动需求,以三自由度并联构型3-PUS-RU为研究对象,利用封闭矢量法建立位置逆解方程和并联机构的雅可比矩阵.引入并联机构的工作空间和刚度性能指标,并绘制机构的工作空间和机构守恒协调刚度在工作空间中的分布图谱.结果表明,由于机构的对称性,使得工作空间和刚度性能仍出现对称分布,工作区域尽量选取刚度值大的位置.对该3-PUS-RU并联构型工作空间和守恒协调刚度性能进行研究,其研究结果对并联机构的设计具有一定的指导作用.