3/6-SPS 并联机构刚度和弹性变形的解析法分析

摘要

针对并联机构中机构的刚度和弹性变形随外载荷变化的问题，以3/6-SPS 并联机构为例，采用解析法求解分析其总刚度矩阵和弹性变形。首先，分析该并联机构受力位置并确定驱动力及其姿态；然后，分析该机构的驱动约束分支的弹性变形，导出驱动约束分支的伴随矩阵；最后求解出该并联机构的总刚度矩阵和弹性变形。得到结论：当建立3/6-SPS 并联机构的总刚度矩阵和求解弹性变形时，必须理清刚度和位姿、广义六维力之间的关系。%As the stiffness and elastic deformation in PM change with external loads, an analytical method is used to solve the general stiffness matrix and elastic deformation in this paper, and a 3 / 6-SPS is analyzed to illustrate the method. First the force situations of the parallel manipulators are analyzed and the poses are determined. Then, the elastic deformations of the active legs in the parallel manipulators are analyzed and compliance matrices of active legs are derived. Finally, the total stiff-ness matrix and elastic deformation of the parallel manipulators are derived. The results show that the relationship between stiffness, poses and generalized six-dimensional force must be made clear when establishing the total stiffness matrix and sol-ving elastic deformation of 3 / 6-SPS PM, constrained force/ torque must be considered.