【摘要】 针对工程输送装配生产线的实际应用需求,以三平度并联机构3-(2UPU)为研究对象,对机构进行运动学分析。利用坐标变换对该机构进行运动学逆解分析,推导出映射机构主动关节输入速度矢量和动平台输出速度矢量关系的雅可比矩阵。从动平台所受外力和发生位移的关系,建立了基于守恒协调转换的刚度模型,并给出了机构刚度的衡量指标。通过具体算例,绘制了机构在工作空间的刚度分布情况。结果表明,该机构具有良好的刚度性能,能够满足实际应用需求。更多还原

【Abstract】 Taking a novel 3-(2UPU)parallel robot manipulator applied in the conveyor assembly production as the research object,the kinematics analysis of the mechanism was produced. The kinematics inverse solution analysis was deduced by coordinate transformation theory; what’s more,the Jacobian matrix that expressed the relationship between the input of the active joint and output of the moving platform velocity vector was derived. Stiffness model of conservative congruence transformation was established by the relationship between external force on driven platform and displacement,and it obtains the measure index of stiffness. Through the specific examples,the stiffness distribution atlas was drawn. The results show that the parallel manipulator has good stiffness performance and can meet the requirements of practical application.更多还原