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刚度建模是并联构型装备(PKM)设计的重要内容.以5自由度混联机器人TriVariant-B为例,提出了一种考虑复杂机架柔性的并联构型装备整机静刚度半解析建模方法.该方法借助子结构综合思想,将整机结构分解为机构和机架两个子系统,分别采用解析法和有限元静态凝聚技术建立两者的刚度模型,继而根据线性叠加原理构造整机刚度模型.在建模过程中,利用虚功原理和全变形雅可比矩阵构造出各子系统的刚度矩阵,并侧重研究约束支链弯曲刚度及机架/机构界面刚度处理问题.在此基础上,考察整机系统刚度在任务空间中的分布规律,借助全域性能指标评价各子系统中主要构件弹性对整机刚度的影响,并通过有限元和实验验证了该方法的有效性.
Stiffness modeling is an important part of the design of parallel configuration equipment (PKM). Taking the TriVariant-B hybrid robot with 5-DOF as an example, this paper presents a semi-analytical solution of the static stiffness of parallel configuration equipment considering complex frame flexibility This method decomposes the structure of the whole machine into two subsystems of mechanism and frame by means of the idea of substructure synthesis. The stiffness model of the two is established respectively by analytical method and finite element static condensation technique, and then the whole machine is constructed according to the principle of linear superposition Stiffness model in the modeling process, the use of virtual work principle and the full deformation Jacobian matrix to construct the stiffness matrix of each subsystem, and focus on the study of constrained branch bending stiffness and stiffness of the rack / body interface processing issues on this basis , The distributive law of stiffness of the whole system in the mission space was investigated. The influence of the main components’ elasticity on the rigidity of the complete machine was evaluated by global performance index. The effectiveness of the proposed method was verified by finite element analysis and experiments.