论文部分内容阅读
为了表明在考虑外力影响下机构雅克比矩阵微分变化对整体机构刚度的影响,这里对4UPS-PU空间并联机构的刚度特性进行了分析,文中主要分析了基于守恒协调转换的4UPS-PU并联机构的刚度分布,并与传统刚度分布进行了比较。首先对4UPS-PU机构的雅克比矩阵进行求解;其次分析基于守恒协调转换的4UPS-PU机构在各个方向上的刚度分布,并分析了传统刚度模型在各个方向上的刚度分布;通过比较传统刚度模型在每个方向上的刚度分布与基于守恒协调转换刚度分布的差别,得知基于守恒协调转换的4UPS-PU机构在各个方向上的刚度分布值比传统情况下的刚度分布值大,表明不能忽略外力对机构的影响。
In order to show the influence of the Jacobian matrix differential on the stiffness of the whole system under the influence of external forces, the stiffness characteristics of the 4UPS-PU space parallel mechanism are analyzed here. In this paper, the 4UPS-PU parallel mechanism Stiffness distribution, and compared with the traditional stiffness distribution. Firstly, the Jacobian matrix of 4UPS-PU mechanism is solved. Secondly, the stiffness distribution of 4UPS-PU mechanism in all directions based on conservation and coordination transformation is analyzed and the stiffness distribution of the traditional stiffness model in every direction is analyzed. The stiffness distribution of the model in each direction is different from that based on the conservative coordination conversion. It is found that the stiffness distribution of the 4UPS-PU based on the conservative coordination conversion in all directions is larger than that in the traditional case, Ignore the impact of external forces on the organization.