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并联机构的雅可比矩阵表示机构输入速度和输出速度的线性关系。根据刚度的定义,利用虚功原理,可以导出并联机构关节力与相应的广义操作力之间的关系,进而推导了一般并联机构在某位姿时刚度的标量指标。同时确定出此时并联机构刚度的范围。接着以两种常见的一般并联机构为例,比较了它们在相同位姿时的刚度,为并联机构的构型设计和优化提供了依据。
The Jacobian matrix of the parallel mechanism indicates the linear relationship between the input speed and the output speed of the mechanism. According to the definition of stiffness, using the principle of virtual work, we can derive the relationship between the joint force of the parallel mechanism and the corresponding generalized operating force, and then deduce the scalar index of stiffness of the general parallel mechanism in a certain attitude. At the same time determine the scope of the parallel mechanism stiffness. Then taking the two common parallel mechanisms as an example, the stiffness of them in the same pose is compared, which provides the basis for the design and optimization of the parallel mechanism.