Analysis on the nalysis Instantaneous Stiffness of the 3-RPS Parallel Machin

摘要：

Based on the screw theory, the force analysis of the 3-RPS parallel machine is illuminated. Been equivalent to a 6-chain parallel machine, the deformation harmony equation of the parallel machine under the outside generalized force is interpreted. The instantaneous stiffness model of the parallel machine, which includes the change of the force Jacobian matrix, is established. Considering the deviation of the position and orientation of the moving platform, which is resulted from the distortion of the PRS chains of the parallel machine, the influence of the change of the Jacobian matrix to the instantaneous stiffness model of the 3-RPS parallel machine is analyzed, and furthermore, it is verified with an instance.

关键词： Instantaneous stiffness model Deformation harmony equation Jacobian matriz

作者: HAN Xianguo CUI Xueliang CHEN Wuyi

作者单位: School of Mechanical Engineering and Automation Beihang University, Beijing, 100191, China

会议类型: 国际会议

会议名称: 第九届加工技术进展国际会议(9th International Conference on Progress of Machining Technology)

会议地点: 昆明

会议语种:英文

页码: 63-67

在线出版日期: 2009-04-25（万方平台首次上网日期，不代表论文的发表时间）