【作者】 吕帮俊； 邢继峰； 朱石坚；

【Author】 Lv Bangjun;Xing Jifeng;Zhu Shijian;

【机构】 海军工程大学；

【摘要】 基于影响系数法和势能守恒原理建立包含主、被动铰链弹性变形以及外力作用下的Stewart机构刚度映射模型。与目前普遍采用的刚度矩阵映射模型相比,该映射模型不仅考虑了驱动支链轴向线刚度、被动铰链刚度,还考虑了外力作用下机构位形微变引起的Jacobian矩阵的变化。特别对于具有多万向铰的UCU型Stewart机构,将上、下万向铰链沿支链轴向刚度随机构位形的变化引入模型,因此更具有一般性和精确性。通过一机构分析实例,考察了在两种模型下刚度分布的差异。更多还原

【Abstract】 Based on influence coefficient method and principle of conversation of potential,stiffness mapping of Stewart mechanism is established,which take into account the elastic deformation of active,passive joints and the effect of external wrench.Compared with the prevalent stiffness mapping model,the proposed model is more general and exact,not only considering the stiffness of actuator,but also considering the stiffness of passive joints and the change of Jacobian matrix brought about by tiny change of mechanism under external wrench.Especially for UCU Stewart mechanism with many universal joints,the configuration-dependent axial stiffness of up and down universal joints are considered in modeling.An analysis example is given to contrast the distribution differences between the two models.更多还原