科研之友
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摘要
This paper proposes an equivalent mechanism approach for establishing the stiffness matrices of some 3-5DOF (degree of freedom) parallel kinematic machines (PKMs) with SPR- or RPS-type legs and solving their elastic deformations. First, the geometric constraints of constrained wrench of these PKMs are analyzed, and the poses of the active/constrained forces are determined. Second, based on the principle of virtue work and the determined active/constrained forces, the formulas are derived for solving the 6x6 Jacobian matrices of these PKMs and the stiffness matrices of SPR or RPS-type active legs. Third, based on the elastic deformations of the SPR or RPS active legs, the equivalent 6-DOF rigid PKMs of these elastic PKMs are constructed, and their 6x6 Jacobian matrices are derived. Finally, the formulas are derived for solving the total stiffness matrices and the elastic deformation of the 3DOF 3SPR, 3DOF 3RPS, 4DOF 2SPS+2SPR, and 5DOF 4SPS+SPR PKMs.
- 出版日期2008-10
- 单位燕山大学
