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一种组合并联机构的运动学分析及刚度分析
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国家自然科学基金资助项目(51265011);江西省自然科学基金资助项目(Gjj13347)


Kinematics and Stiffness Analysis of a Combined Parallel Mechanism
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    摘要:

    以一种新型的可实现3PUU机构和3UPU机构的组合并联机构为对象,对该机构在可实现两种并联机构的情况下分别进行机构自由度分析、运动学分析,得出机构的运动学正逆解以及雅克比矩阵,根据所求出的雅克比矩阵进一步对机构进行机构刚度分析,并用MATLAB软件求解刚度值,绘制出在给定的位姿时上下平台的相关结构参数对整体刚度值的影响曲线图,为此组合并联机构的进一步分析提供了理论分析的依据,对组合并联机构的设计具有一定指导作用。

    Abstract:

    By taking a new realized type of combined parallel 3UPU and 3PUU 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

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  • 在线发布日期: 2016-01-08
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