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采用矢量微分法研究了在大载荷作用下,兼顾支链和铰链刚度以及雅克比矩阵变化等影响因素的3-RPS并联机构完整连续刚度模型.基于螺旋理论分析了3-RPS并联机构支链及铰链构件所受作用力与机构外载荷之间的力平衡关系.采用矢量微分法分析了3-RPS并联机构动平台位姿变化与支链及铰链构件变形之间的关系.采用矢量微分法对机构的力学平衡方程进行微分,建立了完整的连续刚度模型,最后进行了数值模拟分析,结果表明并联机构刚度受载荷和位姿变化影响,简化刚度模型与完整刚度模型在工作空间边界处差值较大.
The complete continuum stiffness model of 3-RPS parallel mechanism under the action of large load is studied by means of vector differential method, taking into account the influence of branch and hinge stiffness and Jacobian matrix, etc. Based on the spiral theory, The force balance relationship between the force acting on the hinge member and the load outside the mechanism.The relationship between the pose change of the moving platform and the deformation of the branch and hinge members of 3-RPS parallel mechanism was analyzed by vector differential method.The vector differential method The mechanical equilibrium equation of the mechanism is differentiated and a complete continuous stiffness model is established. Finally, the numerical simulation is carried out. The results show that the stiffness of the parallel mechanism is affected by the load and pose changes, and the difference between the stiffness model and the complete stiffness model at the boundary of the working space is simplified Larger.