摘要
基于影响系数法和势能守恒原理建立包含主、被动铰链弹性变形以及外力作用下的Stewart机构刚度映射模型。与目前普遍采用的刚度矩阵映射模型相比,该映射模型不仅考虑了驱动支链轴向线刚度,被动铰链刚度,还考虑了外力作用下机构位形微变引起的Jacobian矩阵的变化,因此更具有一般性和精确性。通过一机构分析实例,结合刚度矩阵瑞利商评价指标,考察了两种模型下刚度性能的差异。
Based on the influence coefficient method and the principle of conservation of potential,a stiffness mapping model for Stewart mechanism was established taking the elastic deformation of active,passive joints and the effect of external wrench into account.Compared with the prevalent stiffness mapping model,the proposed model was more general and exact,considering not only the axis stiffness of actuator but also the stiffness of passive joints and the change of Jacobian matrix brought about by tiny change of the mechanism＇s configuration under external wrench.An example was analyzed by combining the stiffness matrix Reyleigh quotient to compare the stiffness performance differences between the two models.
出处
《振动与冲击》
EI
CSCD
北大核心
2011年第4期178-181,共4页
Journal of Vibration and Shock
基金
国防预研基金(51414030105)
海军工程大学自然科学基金(HGDJJ07013)
关键词
STEWART机构
影响系数法
势能守恒原理
刚度映射
Stewart mechanism
influence coefficient method
principle of conservation of potential
stiffness mapping
