2-RP S P SR并联机构刚度分析

摘要

The parallel mechanism is an important development direction of advanced manufacturing, and 2⁃RPS&PSR parallel mechanism is non symmetric mechanism. The Jacobian matrix of the helix theory was used as basis to solve the mechanism, the stiffness of mechanism was obtained. Stiffness analysis was carried out and simulated with Matlab software, and than its various intuitive curve were obtained. It verifies the feasibility of the parallel robot to realize the expected movement, which provides a meaningful reference for the design of this kind of robot, checking and debugging.%并联机构是先进制造领域的一个重要发展方向，2⁃RPS＆PSR并联机构是非对称的机构。采用螺旋理论为基础求解该机构的全雅克比矩阵，得出机构的全刚度。进行刚度分析再运用Matlab软件进行仿真，得出其各种直观曲线。验证了该并联机器人实现预期运动的可行性，为该种机器人的设计、校核和调试提供了参考。