【摘要】 冗余结构可以提高并联机床的刚度,冗余机构在运动中由于各支链的误差使得机构会产生干涉内力,旨在研究内力对冗余并联机床刚度的改善作用,为靠内力提高并联机床性能提供理论基础。首先采用能量法推导了3PRS/UPS冗余并联机床的刚度模型,然后对具有内力的3PRS/UPS冗余并联机床刚度进行了分析。最后给出了特定位姿下的两种形式的刚度计算实例。结果表明内力对机床刚度的影响很小。更多还原

【Abstract】 Redundant structures may raise the rigidity of parallel machine tools.Due to the errors of each branch chain of redundant mechanism,when it is in motion,thus caused the mechanism to produce interference interior forces.This paper aimed at the study of improving effect on the rigidity of redundant parallel machine tools and provides theoretical bases for raising the function of parallel machine tools depending on interior forces.Firstly derived the rigidity model of 3PRS/UPS redundant machine tools by adopting the energy method,and then carried out analysis on the rigidity of 3PRS/UPS redundant parallel machine tools with the possession of interior forces.Finally two forms of rigidity computing living examples under specific posture were presented.The result shows that the interior force affects quite small on the rigidity of machine tools.更多还原