By taking a new realized type of combined parallel 3UPU and 3PUU mechanism as the research object, the degree of freedom and kinematics of the combined mechanismare analyzed in the case of two realize parallel mechanism respectively,to get the forward displacement and inverse displacement analysis in kinematicsof mechanism. According to the Jacobian matrixgotten,stiffness analysis of the mechanism was carried out further. Moreover, the stiffness was calculated by using the software of MATLAB, under the given position,to obtain influence graphs of the overall stiffness value through related structural parameters of the up and down platform. It provides the basis of theoretical analysis for the further research of the combined mechanism, and has a certain guiding role in designing it.
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槐创锋,陈华,刘平安,舒迎将.一种组合并联机构的运动学分析及刚度分析[J].机床与液压,2015,43(21):8-12. . Kinematics and Stiffness Analysis of a Combined Parallel Mechanism[J]. Machine Tool & Hydraulics,2015,43(21):8-12