摘要
刚度是并联机构重要性能指标,为了评价并联机构刚度,提出了一种刚度评价方法。基于3-RRR机构的逆运动学模型,推导出其雅可比矩阵。在力雅可比矩阵的基础上,给出了刚度评价指标,该指标不仅适用于3-RRR并联机构,而且可以应用于其它并联机构。将提出的刚度指标应用于3-RRR并联机构,数值仿真结果表明3-RRR机构在工作空间中具有对称的刚性。
Stiffness is an important performance for parallel mechanisms. In order to evaluate the stiffness ,an evaluating index is proposed. Based on the kinematic model of a 3-RRR parallel mechanism, the Jacobian matrix is derived. The stiffness evaluating index is given based on the force Jacobian matrix. The index is not only suitable for 3-RRR mechanism,but also can be used for other parallel mechanisms. The stiffness simulation of the 3-RRR mechanism shows that the stiffness distribution of a 3-RRR parallel mechanism is symmetrical.
出处
《机械设计与制造》
北大核心
2009年第9期179-180,共2页
Machinery Design & Manufacture
关键词
并联机构
逆运动学
雅可比矩阵
刚度
Parallel mechanism
Inverse kinematics
Jacobian matrix
Stiffness
